CN107685767B - Multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device and forward method - Google Patents
Multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device and forward method Download PDFInfo
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- CN107685767B CN107685767B CN201710699258.9A CN201710699258A CN107685767B CN 107685767 B CN107685767 B CN 107685767B CN 201710699258 A CN201710699258 A CN 201710699258A CN 107685767 B CN107685767 B CN 107685767B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
-
- 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
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of driving devices of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire, comprising: rear axle steering tie rod arm relatively rotates with the rear axle connect respectively；Rear axle steering drag link relatively rotates with the rear axle steering tie rod arm connect respectively；Rotary angle transmitter, on the steering column being respectively arranged in steering system and each rear-axle steering stub；Rear-axle steering controller distinguishes rotary angle transmitter and rear axle hub motor described in Electricity Federation, for controlling rear-wheel corner；Wherein, the rear axle steering tie rod arm forms deformable trapezoidal with the rear axle steering drag link, rear-wheel on the rear axle is deflected under the action of described deformable trapezoidal, the rotary angle transmitter is used to monitor the deflection angle of steering wheel angle and rear-wheel, and signal is passed to the rear-axle steering controller.The invention discloses the forward methods of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire.
Description
Technical field
The present invention relates to multiple-axle vehicle steering technique fields, and in particular to a kind of multiaxis wheel-hub motor driven vehicle rear-wheel line
Control steer-drive and its forward method.
Background technique
Multi-wheeler refers to that the vehicle number of axle is more than two automobiles.Heavy carrier vehicle in order to improve its dynamic property and
Loading capacity reduces the damage of road pavement, generallys use how shaft-driven mode.The steering shaft of most heavy vehicles is more than two axis,
And it is generally respectively adopted in order to which turning radius can be shortened when guaranteeing stability when high vehicle speeds, and running at a low speed
Same-phase turns to and reverse position turns to, and steering behaviour directly influences the maneuverability of vehicle, control stability and makes
Use economy.21 century simultaneously, facing mankind severe environment and energy challenge, so multiple-axle vehicle is also towards motorized
Trend development.
The main target of automobile steering system is to guarantee that each wheel is turned to ideal steering angle, reduces tire wear, together
When solve the problems, such as the ease of steering of driver, i.e., turned to steering hand-power appropriate and obtain comfortable steering response.And mesh
Preceding major part Multi Axle Drive Vehicle mainly uses mechanical type hydraulic power-assisted steering or electric-controlled hydraulic to turn to two ways, but compared to
Apply the driving power-assisted steering technology on electric wheel drive vehicle, their equal Shortcomings.
Driving power-assisted steering technology is a part of electric wheel drive vehicle key technology, defeated using left and right wheels hub motor
Torque differences realize power-assisted steering out.In structure, mitigates complete vehicle quality and production cost, keeps the arrangement space of steering system bigger,
And the problems such as avoiding assist motor noise and its heat dissipation.In dynamic characteristic, driving power-assisted steering eliminate assist motor and its
Deceleration mechanism can effectively improve steering system dynamic characteristic, improve Power assisted control effect.
When multiple-axle vehicle turns to, the deflection angle of rear-wheel will mutually be coordinated with the deflection angle of front-wheel.Traditionally mostly use machine
The transmission connection of tool formula, increases many connecting components between antero posterior axis, greatly increases the complexity of vehicle body chassis structure,
And hand-power needed for driver when increasing turning simultaneously；And traditional steering-by-wire technology is used, though get rid of mechanical transmission structure
Limitation, but need to arrange steering motor in each steering shaft, greatly increase integral vehicle cost.Meanwhile it is accurate to be difficult to feedback
Road feel, stability and reliability also cannot still be completely secured.
In view of this, it is necessary to provide a kind of rear-axle steering driving devices and reality for multiaxis wheel-hub motor driven vehicle
Existing method.
Summary of the invention
The present invention has designed and developed a kind of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device, of the invention
Purpose is complicated mechanical transmission structure between antero posterior axis when cancelling conventional multi-axis vehicle rear axle to turn to, while using line traffic control
When steering technique, does not need to increase the driving parts such as additional steering motor, preferably make rear-wheel follow-up steering.
The present invention has designed and developed a kind of steering side of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device
Method, an object of the present invention are to solve rear axle steering driving device complicated in mechanical structure and steering in multiple-axle vehicle steering procedure
The problem of Torque distribution poor accuracy.
Reasonable computation is carried out to rear-wheel corner in steering procedure the second object of the present invention is to solve Multi Axle Drive Vehicle
Method.
Technical solution provided by the invention are as follows:
A kind of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device, comprising:
Rear axle steering tie rod arm relatively rotates with the rear axle connect respectively；
Rear axle steering drag link relatively rotates with the rear axle steering tie rod arm connect respectively；
Rotary angle transmitter, on the steering column being respectively arranged in steering system and each rear-axle steering stub；
Rear-axle steering controller distinguishes rotary angle transmitter and rear axle hub motor described in Electricity Federation, for rear-wheel corner
It is controlled；
Wherein, the rear axle steering tie rod arm is formed deformable trapezoidal with the rear axle steering drag link, on the rear axle
Rear-wheel deflected under the action of described deformable trapezoidal, the rotary angle transmitter for monitor steering wheel angle and after
The deflection angle of wheel, and signal is passed into the rear-axle steering controller.
Preferably, front axle and the rear number of axle are set as 2 groups.
Preferably, the rear axle steering tie rod arm is connected with the rear axle steering drag link, carries out relative rotation connection.
A kind of forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device, uses the multiaxis
Wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device, includes the following steps:
Step 1: rotary angle transmitter acquires angular signal, according to steering wheel angle signal value and each wheel wheel speed signal value, obtain
Actual vehicle speed out；
Step 2: rear-axle steering controller is according to the signal value of rotary angle transmitter on steering column and each axis and vehicle mass center
Positional relationship calculates each rear-wheel deflection angle actually required；
Step 3: judging drivers working states according to the angular signal change direction:
If driver be steering procedure: if in rear-axle steering controller driving power-assisted steering module according to currently practical speed
Each rear wheel angle signal with being calculated, obtains each rear axle through assist characteristic curve interpolation and drives steering moment；
Be back positive process if driver: if drive power-assisted steering module according to rear-wheel actual deflection signal and steering wheel angle
The real-time difference of signal, calculates through PID controller, exports corresponding differential time positive torque；
Wherein, rotary angle transmitter of the rear-wheel actual deflection signal on each rear-axle steering stub, steering wheel angle signal
Rotary angle transmitter on steering column in steering system；
Step 4: if the steering procedure, according to the driving steering moment obtain each rear axle two sides wheel rotating around
The driving force torque difference of respective kingpin axis, divide equally afterwards with the rear axle that is calculated according to vehicle dynamic property and safety
Each wheel drive motors target torque seeks algebraical sum respectively, later the target output torque as two sides rear-wheel motor controller；
Step 5: the rotary angle transmitter on each rear-axle steering stub is in real time to rear-axle steering control in vehicle travel process
Device processed feeds back the actual angle deflection situation of each rear-wheel, to ensure that each rear axle wheel is capable of the deflection phase at moment and each front axle wheel
It adapts to, completes follow-up steering.
It preferably, include in the step 2 following step to the calculating process of rear-wheel deflection angle actually required
It is rapid:
Step a, the longitudinal velocity u of vehicle driving, the side slip angle β of vehicle body, front wheel angle δ on the first front axle are acquiredm
And the second front wheel angle δ on front axlen；
Step b, rear-wheel deviation angle manipulation model is established:
In formula, m is vehicular gross combined weight, and u is the longitudinal velocity of vehicle driving, IzIt is vehicle around the rotary inertia of z-axis, CiFor i
The cornering stiffness of axis, LiFor the distance of the i-th axis to mass center, ωrFor the yaw velocity of vehicle body, β is the side slip angle of vehicle body,
δiFor wheel steering angle on i axis；
Step c, show that rear-wheel corner formula is on rear axle by the manipulation model
In formula, LpFor the distance of rear axle to mass center, LmIt is first
Distance of the front axle to mass center, LnFor the distance of the second front axle to mass center, δpFor rear-wheel corner, δ on rear axlemIt goes forward for the first front axle
Take turns corner, δnFor front wheel angle on the second front axle.
Preferably, in the step c, approximate value is carried out to the rear-wheel corner formula, obtaining formula is
In formula, LpFor the distance of rear axle to mass center, LmFor the first front axle to matter
The distance of the heart, LnFor the distance of the second front axle to mass center, δpFor rear-wheel corner, δ on rear axlemFor front wheel angle on the first front axle, δn
For front wheel angle on the second front axle.
Preferably, in the step 4, the driving force torque difference formula of the rear-wheel isFormula
In, Δ T is the difference of left and right turn wheel drive torque, TstFor steering moment, rωFor rolling radius, a is that the stub of deflecting roller deviates
Away from.
Preferably, in the step 4, the formula of the output torque isIn formula, TI
For the driving torque of inboard wheel, TOFor the driving torque of outboard wheels, TdFor total driving torque of driver pedal input, Di
For the ratio of the i-th total driving torque of axis driving torque Zhan.
The present invention compared with prior art possessed by the utility model has the advantages that
1, complete vehicle structure is made to obtain optimization largely, steering gear component using inventive drive means
Stress is greatly improved, and mechanical connecting structure is reduced between front axle and rear axle, is advantageously implemented the lightweight of vehicle, is putting
It, being capable of the accurate road feel of feedback while de- mechanical system limitation；
2, rear-wheel deflection angle calculation method and rear-axle steering method of the invention, can make full use of In-wheel-motor driving vapour
The driving feature of vehicle, while taking into account ease of steering and driving road feel, after effectively controlling in multiple-axle vehicle steering procedure
It rotates to improving the motor-driven steering and stability of multiple-axle vehicle.
Detailed description of the invention
Fig. 1 is multi-shaft vehicle full-wheel steering structure schematic diagram of the present invention.
Fig. 2 is driving power-assisted steering torque analysis main view of the present invention.
Fig. 3 is driving power-assisted steering torque analysis top view of the present invention.
Fig. 4 is multi-shaft vehicle full-wheel steering schematic diagram of the present invention.
Fig. 5 is the linear two-freedom model figure of multiple-axle vehicle of the present invention.
Fig. 6 is rear axle steering control flow chart.
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
The present invention aiming at the existing problems and shortcomings of the prior art, realizes the multiple-axle vehicle rear-wheel based on In-wheel motor driving
Steering-by-wire.
By taking four axis In-wheel motor driving automobiles as an example, wherein two front axles are main steering shaft, steering system and conventional truck phase
Together, two rear axles are auxiliary steering shaft, are connect between front axle without mechanical structure, and two sides wheel only by steering trapezoidal arm and turns to horizontal
Pull rod is connected, vehicle using In-wheel motor driving power-assisted steering technology realize front axle power steering and rear axle active, with
Dynamic course changing control.
The rear-wheel steering-by-wire control system of multiaxis wheel-hub motor driven vehicle, mainly by control section and executing agency's group
At in order to solve the problems existing in the prior art with deficiency, the present invention adopts the following technical scheme that realization: vehicle uses hub motor
Independent driving, 8 wheels are each equipped with pivot stud；Preceding two axis is main steering shaft, and steering system is identical as conventional truck, is driven
Member changes the deflection of front axle wheel by steering control mechanism, diverter and steering gear, by respectively to two sides wheel hub
The driving torque of motor controls, and the driving power-assisted steering of front axle is realized, to reduce driver's hand-power；Two axis are assisted diversion afterwards
Axis, with main steering shaft without mechanical connection, two sides wheel only passes through steering trapezoidal arm and track rod is connected, and turns in rear axle
To under the control of controller, by the control to each In-wheel motor driving torque, realizes rear-wheel active steering, actively returns positive function
Energy.
Main steering shaft is based on existing vehicle steering mechanism, deflects into deflecting roller deflection from steering wheel, movement transmitting is successively
By steering wheel, steering shaft, steering universal joint, steering drive axle, diverter, pitman arm, steering drag link is delivered separately to
The tie rod arm and track rod of preceding two axis, to drive the deflection of first axle and the second axis two sides wheel；As a preference, root
Power-assisted steering technical characterstic is driven according to electric wheel truck, re-starts structure and system optimization, to obtain actual steering disk corner,
Rotary angle transmitter is installed on steering column, while can be surveyed by the steering system ratio calibration curve of real vehicle according to this signal
Calculation obtains each wheel actual deflection of front axle, follows front-wheel to be deflected to control each rear-wheel.
It is connected between assisted diversion axis and main steering shaft without mechanical structure, the two sides wheel on same axis only passes through steering ladder
The steering trapezium that shape arm and track rod are constituted is constrained, and the wheel on assisted diversion axis actively follows front-wheel steer to be promoted
Vehicle mobility and stability, are deflected through the control of assisted diversion axle steer control unit, and the wheel on assisted diversion axis is inclined
Torque needed for turning does not need driver and is provided by steering wheel, and rear axle control unit is relied on to pass through steering column angular signal, vehicle
Fast signal etc. adjusts the difference of two sides wheel inner wheel hub motor driven torque to provide driving steering moment, realizes active steering,
Positive function is actively returned, and by the steering angle of the main steering shaft of electronic control realization and assisted diversion axis according to vehicle turning half
Diameter turns to the parameters Auto-matchings such as speed, and the wheel of oriented controller input feedback signal is installed on each assisted diversion axis stub
Rotary angle transmitter, to each wheel actual rotational angle of Real-time Feedback.
The controller of assisted diversion axle steer control unit is divided into steady when middle low speed turns to control module and high speed steering
Qualitative contrlol module selects different course changing control modules according to actual vehicle speed；Rear-wheel deflection direction is controlled when middle low speed with before
Wheel deflection is contrary, is turned to using phase reversal, and middle low speed control module mainly solves vehicle turning mobility, portability is asked
Topic reduces multiple-axle vehicle turning radius；It when high speed, is then turned to using same-phase, High-speed Control module mainly solves vehicle and turns
To stability problem, the deflection angle for reducing vehicle body and driving direction is turned to by same-phase, is reduced when running car turns to
Rotation and sideslip, improve automobile entirety control stability.
Control strategy is to be demarcated using the rotary angle transmitter signal arranged on steering column according to the steering system ratio of real vehicle
Curve is calculated to obtain front axle wheel actual deflection, and each rear-wheel is calculated by automobile two degrees of freedom manipulation model with this and answers
The angle of the deflection；In addition, obtaining each axis driving steering force through assist characteristic curve interpolation in conjunction with currently practical speed signal
Square, and then the size of rear axle two sides wheel driving torque difference is obtained, it calculates separately to obtain each auxiliary by electronic control unit
The driving torque that wheel actual needs in steering shaft two sides provides；The corresponding wheel hub electricity being sent in each wheel of signal will finally be controlled
Machine is driven, meanwhile, it is actually inclined that the rotary angle transmitter on each rear axle steering stub feeds back each wheel to steering controller in real time
Gyration；Specific system work process is as follows:
(1) driver turn steering wheel, main steering shaft are respectively taken turns in steering control mechanism, diverter and steering gear
The lower deflection realized around stub of effect, rotary angle transmitter acquires the angular signal of steering column, and sends a signal to rear-axle steering
Controller；
(2) according to steering wheel angle signal value and each wheel wheel speed signal value, actual vehicle speed is estimated；
(3) rear axle steering controller manipulates model using two degrees of freedom, respectively according to the deflection angle of wheel in main steering shaft
Calculate the target angle of deflection that each rear-wheel needs；
(4) judge that driver is steering procedure or returns positive mistake according to the steering column angular signal change direction detected
Journey；
(5) if steering procedure: then rear axle steering controller drives power-assisted steering module according to currently practical speed and meter
Obtained each rear wheel angle signal, obtains driving steering moment through assist characteristic curve interpolation；
If returning positive process: then driving power-assisted steering module according to rear-wheel actual deflection signal and steering column angular signal
Real-time difference, calculates through PID controller, exports corresponding differential time positive torque；Wherein, rear-wheel actual deflection signal from after
Take turns the rotary angle transmitter on pivot stud, rotary angle transmitter of the steering wheel angle signal on steering column in steering system；
Power-assisted steering technology is driven, is the driving torque difference by controlling two sides wheel inner wheel hub motor on same axis,
It differs two sides wheel driving force around the torque that main pin axis generates, that is, produces driving steering moment, two sides wheel is driven to exist
Under the constraint of steering trapezium, the side small to driving moment is turned to, driving torque formula are as follows:In formula, Δ T
For the difference of left and right turn wheel drive torque, TstFor steering moment, rωFor rolling radius, a is the kingpin offset of deflecting roller.
Assisted diversion axis two sides wheel driving force torque difference Δ T is calculated according to above formula, after dividing equally and according to vehicle
Each wheel drive motors target torque of the assisted diversion axis that dynamic property and safety are calculated seeks algebraical sum respectively, conduct later
The target output torque of two sides wheel electrical machine controller.
Embodiment
The present invention provides the driving device and implementation method of a kind of Multi Axle Drive Vehicle rear-wheel steering-by-wire, realizes multiaxle trucks
To reduce turning radius, that cancels that conventional multi-axis turns between the main steering shaft of vehicle and assisted diversion axis mechanical is tied for all-wheel steering
Structure does not need additionally to increase the components such as steering motor yet, while hand-power needed for steering wheel when reducing steering, and keeps accurately road
Feel feedback.
Specific structure includes chassis 110, is arranged symmetrically in car body two sides by 8 wheels 120 of In-wheel motor driving, front axle
For main steering shaft, steering system is essentially identical with common vehicle, and steering wheel 130 is turned by steering shaft 140, steering universal joint 150
To transmission shaft 160, diverter 170, pitman arm 180, steering drag link 190, knuckle arm 220, respectively with two front-axle steerings
Tie rod arm 230 is connected, and tie rod arm 230 is connected with track rod 240 constitutes steering trapezium, and two sides wheel 120 is in steering ladder
Under the constraint of shape, deflected around pivot stud；Furthermore in order to measure 130 corner of actual steering disk, on the steering column of steering system
Rotary angle transmitter is installed, the input signal which controls as full-vehicle steering is that 8 wheels 120 turn to
The basis of angle control, the actual deflection of the wheel 120 in main steering shaft are then bent by the steering system ratio calibration of real vehicle
What line was calculated.
Two rear axles are not to be mechanically connected between auxiliary steering shaft, with main steering shaft, the wheel 120 of assisted diversion axis two sides
Only it is connected by tie rod arm 250 with track rod 260.The control section of whole rear-wheel steering-by-wire is complete by rear-axle steering controller
At input terminal and the rotary angle transmitter on each state sensor and steering column and each rear-axle steering stub 270 on vehicle body
It is connected, output end is connected with each rear wheel hub motors controller, directly controls motor driven torque, produces two sides wheel
The raw torque differences around respective kingpin axis, form driving torque, and then rear-wheel 120 is made to carry out active steering and actively return
Just.The rotary angle transmitter installed on each pivot stud 270, in real time to the deflection feelings of rear-axle steering controller feedback wheel 120
Condition, to guarantee that the deflection angle energy moment of each rear-wheel 120 mutually coordinates with 120 deflection angle of front-wheel.
As shown in Fig. 2, providing drive of different sizes by left and right sides hub motor using driving power-assisted steering technology
Dynamic torque forms the steering moment that driving wheel 120 is rotated around 270 axis of assisted diversion axis stub, if the drive of left and right wheels 120
Dynamic torque is respectively Tl、Tr, driving force is respectively Ftl、Ftr, then pass through the driving steering moment and left and right vehicle on assisted diversion axis
Take turns the relation formula of 120 driving torquesThe two sides wheel being calculated on assisted diversion axis turns
Driving torque to wheel is poor, in formula, TstFor steering moment, Δ T is the difference of left and right turn wheel drive torque, rωFor the rolling of wheel
Radius, a are the kingpin offset of deflecting roller.
Again according to following formulaDistribute left and right deflecting roller driving torque, in formula, TIFor inside vehicle
The driving torque of wheel, TOFor the driving torque of outboard wheels, TdFor total driving torque of driver pedal input, DiFor the drive of the i-th axis
The ratio of the total driving torque of dynamic torque Zhan.
As long as reasonably adjusting 120 driving moment of two sides wheel, so that it may in the case where guaranteeing that the total driving moment of vehicle is constant
Suitably driving steering moment is formed, and realizes assisted diversion wheel 120 using the driving steering moment and actively deflects and be servo-actuated
It turns to；Assisted diversion axis two sides wheel 120 is protected under the constraint for the steering trapezium that tie rod arm 250 and track rod 260 are formed
Card left and right wheels 120 turn over an angle by a certain percentage.The rotary angle transmitter signal on 120 pivot stud of rear-wheel is utilized simultaneously
As feedback, the deviation of itself and rear-wheel target deflection angle is corrected in real time.
The control section of assisted diversion axis is responsible for by rear axle steering controller, and the deflection angle of rear-wheel 120 is according on steering column
The parameters such as the positional relationship of the signal value of rotary angle transmitter and each axis and vehicle mass center determine, and real-time update, recycle two sides
The deflection of the practical control rear-wheel 120 of the steering moment that the Differential Driving torque of hub motor is formed, and combine each rear-axle steering master
The signal value of rotary angle transmitter on pin 270 adjusts the difference of two sides In-wheel motor driving torque in real time, keeps each rear-wheel 120 practical
The target deflection angle that deflection angle can be calculated with controller is consistent, realizes follow-up steering.
Rear-axle steering controller is to manipulate model based on two degrees of freedom to the Computing Principle of rear-wheel corner, establishes multi-axle steering
Vehicle two degrees of freedom manipulates model are as follows:
In formula, m is vehicular gross combined weight, and u is the longitudinal velocity of vehicle driving, IzIt is vehicle around the rotary inertia of z-axis, CiFor i
The cornering stiffness of axis, LiFor the distance of the i-th axis to mass center, ωrFor the yaw velocity of vehicle body, β is the side slip angle of vehicle body,
δiFor wheel steering angle on i axis；
As shown in figure 4, x-axis, which is parallel to ground, is directed toward vehicle front, y-axis is directed toward vehicle left side, passes through turning on steering column
Angle transducer can calculate wheel steering angle δ on main steering shaft mm, wheel steering angle δ on main steering shaft nn, then in the steering of vehicle
The heart can determine, to guarantee that the wheel 120 on assisted diversion axis does pure rolling, then need to guarantee the wheel on assisted diversion axis p
120 corner δpThe corner δ of front axle wheel 120 can be followed in real timemAnd δn, relationship are as follows:
Because the steering angle of multi-shaft steering vehicle wheel 120 is smaller, therefore above formula can be with approximate representation are as follows:
Wheel steering angle δ in formula, on axle m, nm、δnIt is the actual rotational angle measured according to sensor on steering column, Lm、Ln、
LpRespectively it is the distance of main steering shaft m, main steering shaft n and assisted diversion axis p to mass center, recycles real vehicle steering system ratio mark
Determine what curve was calculated, each rear axle target deflection actually required can be obtained by the calculating of rear axle steering controller
Angle；The differential power torque needed is obtained through assist characteristic curve interpolation in conjunction with parameters such as currently practical speeds, by turning
Two sides wheel 120, which is calculated, to controller needs the different driving dtc signal distributed to form steering moment, this is controlled
Signal is sent to the hub motor on each rear-wheel 120, and each rear axle two sides wheel is driven to complete deflection under the constraint of steering trapezium.
Meanwhile the rotary angle transmitter on each pivot stud feeds back the actual deflection angle of each rear-wheel to steering controller in real time, to realize
Rear-wheel accurately actively can follow front-wheel to be deflected.
Using structure of the invention and rear-axle steering control strategy, complete vehicle structure is made to obtain optimization largely, turned
It is greatly improved to transmission mechanism component stress, is advantageously implemented the lightweight of vehicle, makes full use of electric wheel drive vehicle
Driving feature, and take into account ease of steering and drive road feel while, improve multiaxle trucks motor-driven steering and
Stability when high speed.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (5)
1. a kind of forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device, which is characterized in that use
Multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device comprising:
Rear axle steering tie rod arm relatively rotates with the rear axle connect respectively；
Rear axle steering drag link relatively rotates with the rear axle steering tie rod arm connect respectively；
Rotary angle transmitter, on the steering column being respectively arranged in steering system and each rear-axle steering stub；
Rear-axle steering controller distinguishes rotary angle transmitter and rear axle hub motor described in Electricity Federation, for carrying out to rear-wheel corner
Control；
Wherein, the rear axle steering tie rod arm is formed deformable trapezoidal with the rear axle steering drag link, on the rear axle after
Wheel is deflected under the action of described deformable trapezoidal, and the rotary angle transmitter is used to monitor steering wheel angle and rear-wheel
Deflection angle, and signal is passed into the rear-axle steering controller；
The forward method includes the following steps:
Step 1: rotary angle transmitter acquires angular signal, according to steering wheel angle signal value and each wheel wheel speed signal value, reality is obtained
Border speed；
Step 2: rear-axle steering controller is according to the signal value of rotary angle transmitter on steering column and the position of each axis and vehicle mass center
Relationship calculates each rear-wheel deflection angle actually required；
Step 3: judging drivers working states according to the angular signal change direction:
If driver be steering procedure: if in rear-axle steering controller driving power-assisted steering module according to currently practical speed and meter
Obtained each rear wheel angle signal, obtains each rear axle through assist characteristic curve interpolation and drives steering moment；
Be back positive process if driver: if drive power-assisted steering module according to rear-wheel actual deflection signal and steering wheel angle signal
Real-time difference, calculated through PID controller, export corresponding differential time positive torque；
Wherein, rotary angle transmitter of the rear-wheel actual deflection signal on each rear-axle steering stub, steering wheel angle signal come from
Rotary angle transmitter in steering system on steering column；
Step 4: obtaining each rear axle two sides wheel rotating around respective according to the driving steering moment if the steering procedure
The driving force torque difference of kingpin axis, divide equally afterwards with each vehicle of rear axle for being calculated according to vehicle dynamic property and safety
Wheel drive motor target torque seeks algebraical sum respectively, later the target output torque as two sides rear-wheel motor controller；
Step 5: the rotary angle transmitter on each rear-axle steering stub is in real time to rear-axle steering controller in vehicle travel process
Feed back the actual angle deflection situation of each rear-wheel, with ensure each rear axle wheel can moment and the deflection of each front axle wheel mutually fit
It answers, completes follow-up steering.
2. the forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device as described in claim 1,
It is characterized in that, the calculating process of rear-wheel deflection angle actually required is included the following steps: in the step 2
Step a, the longitudinal velocity u of vehicle driving, the side slip angle β of vehicle body, front wheel angle δ on the first front axle are acquiredmAnd the
Front wheel angle δ on two front axlesn；
Step b, rear-wheel deviation angle manipulation model is established:
In formula, m is vehicular gross combined weight, and u is the longitudinal velocity of vehicle driving, IzIt is vehicle around the rotary inertia of z-axis, CiFor i axis
Cornering stiffness, LiFor the distance of the i-th axis to mass center, ωrFor the yaw velocity of vehicle body, β is the side slip angle of vehicle body, δiFor i
Wheel steering angle on axis；
Step c, show that rear-wheel corner formula is on rear axle by the manipulation model
In formula, LpFor the distance of rear axle to mass center, LmFor the first front axle
To the distance of mass center, LnFor the distance of the second front axle to mass center, δpFor rear-wheel corner, δ on rear axlemIt goes forward to rotate for the first front axle
Angle, δnFor front wheel angle on the second front axle.
3. the forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device as claimed in claim 2,
It is characterized in that, in the step c, approximate value is carried out to the rear-wheel corner formula, obtaining formula is
In formula, LpFor the distance of rear axle to mass center, LmFor the first front axle to mass center away from
From LnFor the distance of the second front axle to mass center, δpFor rear-wheel corner, δ on rear axlemFor front wheel angle on the first front axle, δnIt is second
Front wheel angle on front axle.
4. the forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device as claimed in claim 3,
It is characterized in that, in the step 4, the driving force torque difference formula of the rear-wheel isIn formula, Δ T is
The difference of left and right turn wheel drive torque, TstFor steering moment, rωFor rolling radius, a is the kingpin offset of deflecting roller.
5. the forward method of multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device as claimed in claim 4,
It is characterized in that, in the step 4, the formula of the output torque isIn formula, TIFor inside vehicle
The driving torque of wheel, TOFor the driving torque of outboard wheels, TdFor total driving torque of driver pedal input, DiFor the drive of the i-th axis
The ratio of the total driving torque of dynamic torque Zhan.
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| US11034383B2 (en) | 2018-08-03 | 2021-06-15 | Ford Global Technologies, Llc | Vehicle including second steered axle |
| CN109591888B (en) * | 2018-11-26 | 2023-06-23 | 吉林大学 | Five semitrailer initiative steering differential angle control system |
| CN111348099A (en) * | 2018-12-21 | 2020-06-30 | 刘海鹏 | Multi-wheel vehicle with universal steering model controller and rear wheel vector control mechanism |
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| CN112977600B (en) * | 2019-12-18 | 2022-05-24 | 北汽福田汽车股份有限公司 | Steering system and vehicle |
| CN110949505A (en) * | 2019-12-23 | 2020-04-03 | 中车株洲电力机车有限公司 | Multi-axle vehicle and steering system thereof |
| CN113799764B (en) * | 2020-06-11 | 2022-08-02 | 上海汽车集团股份有限公司 | Control method and device for four-wheel steering system of vehicle |
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| CN114462152B (en) * | 2022-03-10 | 2024-05-14 | 一汽解放汽车有限公司 | Turning radius calculation method |
| CN117507715B (en) * | 2023-12-28 | 2024-04-30 | 河北红星汽车制造有限公司 | Chassis of low-floor new energy van vehicle |
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| CN101716952B (en) * | 2009-09-22 | 2012-05-23 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
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