CN108216360A - Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential - Google Patents
Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential Download PDFInfo
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- CN108216360A CN108216360A CN201810042727.4A CN201810042727A CN108216360A CN 108216360 A CN108216360 A CN 108216360A CN 201810042727 A CN201810042727 A CN 201810042727A CN 108216360 A CN108216360 A CN 108216360A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/063—Pump driven by vehicle engine
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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 invention discloses a kind of multiaxis hybrid vehicle mechanical-hydraulic steering is mixed with the grouping of active differential, the system uses one or two bridge steering wheel Mechanical course hydraulic power-assisted steerings and the automatically controlled wheel hub motor active differential steering of five or six bridges, is made of rear axle electronically controlled active differential steering system, steering control mechanism 1, steering gear 2, steering hydraulic control system 3, steering controller and display system 4, angle sensor device 5；Wheel is organized after when low speed is turned and preceding group of wheel rotates backward, and can be reduced the turning radius of vehicle, be improved the maneuverability of vehicle；Wheel is organized before in high speed turning function, group wheel is without turning function afterwards, the stability of vehicle when improving tempo turn and accelerating to overtake other vehicles, reduce vehicle to be whirled up moving in tempo turn, and the steering of rear group wheel is steering controller automatic identification, intervene without driver so that manipulating vehicle becomes more simple.
Description
Technical field
The present invention relates to Automotive Steering Technology field more particularly to multiaxis hybrid vehicle mechanical-hydraulics and active differential
Grouping mixing steering.
Background technology
With the high speed development of auto industry, environmental pollution and energy problem are also increasingly prominent, therefore to heavy extraordinary more
The research and development of axis hybrid vehicle also receive significant attention.Multiaxis hybrid power Off-road vehicle drives shape for five axis 10 × 10
Formula, wherein one, two, five, six bridges are steeraxle, first three bridge uses general internal combustion engine drive system, and rear two bridge uses novel hub
Motor driven systems, two systems can both be run alone, can also simultaneously coordinated operation, compared to conventional fuel oil vehicle, hybrid power
Vehicle has certain improvement in energy consumption, exhaust emissions etc..Extraordinary hybrid car travel operating mode is more complicated, special
It can not be more demanding to vehicle maneuverability stability and steering flexibility in some inclement condition road conditions downward drivings.
The common multiaxis grouping steering of vehicle has mechanical hydraulic power-assist steering system, mechanical-hydraulic power-assisted and automatically controlled liquid
Press power-assisted mixing steering.These steering weight are big, low using spatial extent, and maneuverability stability and steering spirit
Activity is poor, reduces the safety of steering.Wheel-hub motor driven vehicle wheel can be by controlling the torque of wheel hub motor and turning
Speed realizes differential steering function, can accurately control speed and the torque of wheel-hub motor driven vehicle wheel, improve the manipulation of vehicle
Property stability and steering flexibility, but wheel-hub motor driven vehicle wheel is there are motor failure situation, how motor failure feelings
Ensure the stability problem to be solved of vehicle under condition.Multiple-axle vehicle easily generates whipping when running at high speed simultaneously, increases
How wheel wear and danger, allow safety and the flexibility coordinating and unifying of vehicle.
Invention content
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, provide a kind of multiaxis
Hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential.
The present invention uses following technical scheme in order to solve the above problem：
The present invention implements a kind of multiaxis hybrid vehicle mechanical-hydraulic and mixes steering with the grouping of active differential, uses
Multiaxis grouping turns to, and one or two bridges use steering wheel Mechanical course hydraulic power-assisted steering, and five or six bridges are using the active of automatically controlled wheel hub motor
Differential steering, both steering are applied in combination, and referred to as mechanical-hydraulic mixes steering technique with the grouping of active differential, and grouping is mixed
Steering is closed by rear axle electronically controlled active differential steering system, steering control mechanism, steering gear, steering hydraulic control system
System, steering controller and display system, angle sensor device composition.
In said program, the rear axle electronically controlled active differential steering system includes the preposition disconnected steering trapezoid machine of four or five bridges
Structure, rear steering bridge group hydraulic system, angle sensor device, steering controller and display system, wheel hub motor, angular transducer
Steeraxle angle signal and speed signal are reached steering controller by device, and steering controller independently selects control model, control
Mode signal reaches the preposition Splitting Ackerman Steering Linkage of four or five bridge of executing agency, rear steering bridge group hydraulic system and wheel hub electricity
Machine completes corresponding steering pattern, is included corresponding steering pattern on secondary display screen by CAN bus.
In said program, the steering control mechanism includes steering wheel, steering column, transmission shaft, and the transmission shaft turns
It is connect to section with steering gear, operating mechanism controls left and right vehicle wheel travel direction, while controls steering gear hydraulic valve and then allow one or two
Bridge power-assisted cylinder efficient.
In said program, the steering gear includes Splitting Ackerman Steering Linkage and longitudinal steering gear,
For the Splitting Ackerman Steering Linkage by one, two bridge disconnected steering trapezoid postpositions, four, five bridge disconnected steering trapezoids are preposition,
Splitting Ackerman Steering Linkage ensures that the inside and outside wheel corner of every bridge meets certain relationship；The longitudinal direction steering gear packet
Pitman arm mechanism, steering drag link mechanism and between centers steering gear are included, pitman arm arrangement of mechanism is used between longitudinal tie
Between centers angle relation is transmitted, makes each bridge deflecting roller motor coordination, ensures that one or two bridge wheels make PURE ROLLING, tire does not occur
Sliding wear；Steering drag link mechanism transmits the angle relation between steering gear and deflecting roller, is driven between direction of transfer disk and steered wheel
Than making steering wheel that there is good force characteristic, while ensure that steering wheel has rational effective travel in steering procedure；Between centers turns
The wheel steering angle for ensureing one or two bridges to transmission mechanism meets certain relationship.
In said program, the steering hydraulic control system includes front steering axle group hydraulic system and rear steering bridge group hydraulic pressure
System, the front steering axle group hydraulic system are helped by fuel tank, hydraulic pump, oil filter, check valve, single loop steering gear and one or two bridges
Power cylinder provides one, two bridge hydraulic power-assisted steerings；The rear steering bridge group hydraulic system is by fuel tank, hydraulic pump, oil filter, list
To valve, four bridge solenoid electric valves, five bridge solenoid electric valves, four or five bridge centering locking oil cylinders, four, five bridge steering, lockings are controlled, two
System shares a set of fuel tank, hydraulic pump, oil filter, check valve and forms a steering hydraulic control system.
In said program, the steering controller and display system include steering controller, slave display, steering controller
Information of vehicles communication system based on CAN bus, by acquiring wheel angle signal, speed signal, wheel hub motor signal, from
Dynamic control rear steering bridge group steering state is, it can be achieved that run at a low speed steering, steering of driving at moderate speed, three kinds of steerings of steering of running at high speed
Pattern, when the vehicle is driving at high speed, two bridges after automatic locking prevent whipping, ensure traffic safety, while communicate with HMI, upload
Steering state information is shown and is opened by instrument board pair display screen.
In said program, the angle sensor device includes angular transducer and installing mechanism, measures one, two, five, six
The wheel steering angle of bridge, angular signal are uploaded to steering controller, realize Real-time Feedback wheel steering angle.
The present invention compared with prior art, is had the advantages that using above technical scheme：
(1) steering adjusts the torque of five or six bridge wheel hub motors by steering controller and rotating speed realizes differential actively
Turning function can not only save complicated mechanical transmission mechanism and mechanical differential device, mitigate vehicle weight, can also obtain
Better space availability ratio, while transmission efficiency is improved, and accurately control the speed of wheel-hub motor driven vehicle wheel and turn
Square improves the maneuverability stability and steering flexibility of vehicle, allows safety and the flexibility coordinating and unifying of its vehicle.
(2) group wheel and preceding group of wheel rotate backward after multiaxis grouping mixing is turned to when low speed is turned, and can reduce vehicle
Turning radius, improve the maneuverability of vehicle, vehicle is made to park in narrow space, is turned around, turn it is more convenient,
It is a kind of ideal hybrid vehicle Power Steering of Car；In high speed, preceding group of wheel have turning function and rear group wheel without
Turning function, the stability of automobile when improving tempo turn and accelerating to overtake other vehicles, reduces body of a motor car and is easily produced in tempo turn
Raw circumnutation, and the course changing control of rear group wheel is by steering controller automatic identification, is intervened without driver so that behaviour
Vertical vehicle becomes more simple.
Description of the drawings
Fig. 1 is the multiaxis grouping mixing steering conceptual scheme of the present invention；
Fig. 2 is the grouping mixing steering gear layout drawing of the present invention；
Fig. 3 is the grouping mixing steering hydraulic fundamental diagram of the present invention；
Fig. 4 is the automatically controlled active differential turning function schematic diagram of the present invention；
Fig. 5 is the automatically controlled active differential course changing control logical flow chart of the present invention；
The multiple-axle vehicle grouping mixing that Fig. 6 is the present invention turns to schematic diagram.
In figure：1- steering control mechanisms, 2- steering gears, 3- steering hydraulic control systems, 4- steering controllers and
Display system, 5- angle sensor devices, 6- pitman arms mechanism, 7- steering drag links mechanism, 8- between centers steering gear,
Mono- bridge disconnected steering trapezoids of 9-, bis- bridge disconnected steering trapezoids of 10-, tetra- bridge disconnected steering trapezoids of 11-, five bridges of 12- disconnect
Formula steering trapezium, 13- fuel tanks, 14- hydraulic pumps, 15- oil filters, 16- check valves, the steering gear of 17- single loops, tetra- bridge electromagnetism of 18-
Control valve, five bridge solenoid electric valves of 19-, mono- bridge power-assisted oil cylinders of 20-, bis- bridge power-assisted oil cylinders of 21-, tetra- bridge centering locking oil cylinders of 22-,
Five bridge centering locking oil cylinders of 23-
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
An embodiment of the present invention provides a kind of multiaxis hybrid vehicle mechanical-hydraulic steering is mixed with the grouping of active differential
System, as shown in Figures 1 to 6, the system include one or two bridge steering wheel Mechanical course hydraulic power-assisted steerings and the automatically controlled wheel hub of five or six bridges
Motor active differential steering, two ways complete multiaxis hybrid vehicle grouping mixing turning function, grouping mixing steering system
By rear axle electronically controlled active differential steering system, (four bridge disconnected steering trapezoids 11, five bridge disconnected steering trapezoids 12 are turned to and are controlled system
Device processed and display system 4, four bridge solenoid electric valves 18, five bridge solenoid electric valves 19, four bridge centering locking oil cylinders 22, five bridge centerings
Locking oil cylinder 23), steering control mechanism 1, steering gear 2, steering hydraulic control system 3, steering controller and display system
System 4, angle sensor device 5.
The steering control mechanism 1 has steering wheel, steering column, transmission shaft, and shaft universal-joint spline turns with single loop
Axis connection is inputted to device 12, vehicle heading is controlled, while control a bridge power-assisted oil cylinder by one or two bridge steering gears 2
20 and two bridge power-assisted oil cylinder 21 act.
The steering gear 2 has Splitting Ackerman Steering Linkage and longitudinal steering gear, by a bridge breakaway-element
9 and two bridge disconnected steering trapezoid of steering trapezium, 10 postposition, four bridge disconnected steering trapezoids 11 and five bridge disconnected steering trapezoids
12 is preposition, and Splitting Ackerman Steering Linkage makes the inside and outside wheel corner of every bridge meet certain relationship；Longitudinal steering gear
There are pitman arm mechanism 6, steering drag link mechanism 7 and between centers steering gear 8, pitman arm mechanism 6 is arranged in longitudinal tie
Between, for transmitting between centers angle relation, steering drag link mechanism 7 transmits to be turned between single loop steering gear 12 and one or two bridge deflecting rollers
Angular dependence, gearratio between direction of transfer disk and one or two bridge steered wheels, between centers steering gear 8 ensure that the wheel of one or two bridges turns
Angle meets certain relationship, as shown in Figure 2.
The steering hydraulic control system 3 has front steering axle group hydraulic system and rear steering bridge group hydraulic system to form, and has
Fuel tank 13, hydraulic pump 14, oil filter 15, check valve 16, single loop steering gear 17, four bridge solenoid electric valves 18, five bridge electromagnetism controls
Valve 19 processed, a bridge power-assisted oil cylinder 20, two bridge power-assisted oil cylinders 21, four bridge centering locking oil cylinders 22, five bridge centering locking oil cylinders 23, it is preceding
Steeraxle group hydraulic system provides one or two bridge power steerings, and rear steering bridge group hydraulic system is when the vehicle is driving at high speed, automatic to lock
Two bridges after fixed prevent whipping, ensure traffic safety, as shown in Figure 3.
3 course of work of steering hydraulic control system starts driven by engine hydraulic pump 14 and operates, four bridge Electromagnetic Controls
18 and five bridge solenoid electric valve 19 of valve is power failure state, and four or five bridges are in free steering state, and 14 fluid of hydraulic pump passes through pressure
The direct off-load of power unloading valve reduces system heat generation amount, each bridge corner is unchanged at this time, four bridge centering locking oil cylinders 22 to fuel tank 13
It is in five bridge centering locking oil cylinders 23 and prepares locking steering state, single loop steering gear 17 is controlled by steering control mechanism 1
And then a bridge power-assisted oil cylinder 20 and two bridge power-assisted oil cylinders 21 is controlled to stretch and play the role of power-assisted；Select rear steering bridge group Shaft alignment state
When, four bridge centering locking oil cylinders 22 and five bridge centering locking oil cylinders 23 make four, five bridges keep to middle lockup state under oil pressure,
Deflecting roller straight-going state can be kept when wheel hub motor fails simultaneously, makes vehicle more safe and reliable.
The steering controller and display system 4 have steering controller, slave display, and steering controller is based on CAN bus
Information of vehicles communication system, by collecting vehicle wheel angular signal, speed signal, wheel hub motor signal, two after automatically controlling
Bridge steering state is communicated with HMI, it can be achieved that three kinds of different steering patterns under different speed, uploads steering state information,
It is shown and is opened by instrument board pair display screen, as shown in Figure 4.
The 5 angled sensor of angle sensor device and installing mechanism, in steering trapezium swing arm rotary shaft,
The wheel steering angle of one, two, five, six bridges is measured, angular signal is uploaded to steering controller, realizes the mesh of Real-time Feedback wheel steering angle
's.
The rear axle electronically controlled active differential steering system course of work of the present invention：
As shown in figure 5, rear axle electronically controlled active differential steering system includes steering controller, slave display, angular transducer
Device 5, hydraulic electromagnetic control valve, disconnected steering trapezoid, centering locking oil cylinder；It is turned on the left of one, two, four, five bridges respectively
Setting angle sensor device 5 at section, control system first determine whether steering pattern, acquisition front steering axle group wheel steering angle signal and
Speed signal judges whether to need to turn to, and calculates the theoretical corner of each bridge, and controller is calculated according to the actual rotational angle signal of feedback
Deviation calculates corresponding controlled quentity controlled variable, drive axle hub motor differential according to deviation according to certain control algolithm, and control rear axle turns
To the same bridge steering direction in rear-axle steering direction is as shown in Figure 6 on the contrary；Automatically controlled active differential steering can realize low vehicle speeds
It turns to, steering of driving at moderate speed, running at high speed turns to three kinds of steering patterns.
Vehicle travels steering pattern, and Vehicle Speed is detected by CAN Vehicle Body Bus, as below speed 30km/h,
The steering pattern run at a low speed, controller detect each bridge angle of rear axle according to one, two bridge angle sensor device feedacks
The actual rotational angle of sensor device, and the variable quantity of rear axle corner is calculated, steering controller control wheel hub motor differential makes rear axle
Quickly, smoothly reach and it is expected steering angle, it can be achieved that min. turning radius turns to；When Vehicle Speed is in 30km/h-
During 50km/h, steering pattern of driving at moderate speed, steering controller controls four bridges to restore straight travel state and centering locking, centering oil
Cylinder locking in place when, four bridge angle sensor device feedback signals, electric driving wheel disconnect four bridge wheel hub motor differential functions；Work as vehicle
Travel speed is more than steering pattern of running at high speed after 50km/h, and it is straight travel state that steering controller, which controls four, five bridges,
And with automatically controlled centering locking oil cylinder lock four, five bridges, centering oil cylinder locking in place when, angle sensor device feedback signal, electricity
Driving wheel disconnects four, five bridge wheel hub motor differential functions.
When steering wheel left steering, bridge turns left before being measured by preceding bridge angle sensor device, and according to preceding bridge deflecting roller
Steering angle calculate the instantaneous of four, five bridges and it is expected steering angle, the output phase should left and right wheel hub motor differential value, rear-axle steering wheel
Reach default corner, angle sensor device feedback signal, controller, which sends out instruction, to be stopped turning to, and it is poor that left and right wheel hub motor stops
Speed, steering angle is in hold mode, and when left steering returns to straight trip, steering controller it is expected to turn to by the instantaneous of four, five bridges
Angle reversely turns over corresponding corner.When by corner zero-bit, wheel hub motor delay is allowed to disconnect differential, if continuing to turn to
Left and right wheel hub motor continuous differential control steering operation, wheel hub motor stops differential if restoring to keep straight on, and system is restored and protected
Hold straight-going state.
When steering wheel right turn, bridge is turned right before being measured by preceding bridge angle sensor device, and according to preceding bridge deflecting roller
Steering angle calculate the instantaneous of four, five bridges and it is expected steering angle, the output phase should left and right wheel hub motor differential value signal, control wheel
Hub motor differential controls left and right wheels to press the angle motion of certain relationship by disconnected steering trapezoid, reaches default corner, angle
5 feedback signal of sensor device, controller, which sends out instruction, to be stopped turning to, and left and right wheel hub motor stops differential, and steering angle is in
Hold mode, when right turn returns to straight trip, steering controller it is expected that steering angle turns over by four had turned through, the instantaneous of five bridges
Corresponding corner.
Claims (5)
1. multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential, which is characterized in that the system packet
One or two bridge steering wheel Mechanical course hydraulic power-assisted steerings and the automatically controlled wheel hub motor active differential steering of five or six bridges are included, two ways is complete
Mixing turning function is grouped into multiaxis hybrid vehicle, system is by rear axle electronically controlled active differential steering system (four bridge breakaway-elements
Steering trapezium 11, five bridge disconnected steering trapezoids 12, steering controller and display system 4, four bridge solenoid electric valves 18, five bridges electricity
Magnetic control valve 19, four bridge centering locking oil cylinders 22, five bridge centering locking oil cylinders 23), steering control mechanism 1, steering gear
2nd, steering hydraulic control system 3, steering controller and display system 4, angle sensor device 5.
2. multiaxis hybrid vehicle mechanical-hydraulic according to claim 1 mixes steering with the grouping of active differential,
It is characterized in that：The rear axle electronically controlled active differential steering system, system first determine whether steering pattern, bridge angular signal before acquisition
Judge whether to need to turn to speed signal, calculate the theoretical corner of each bridge, steering controller is believed according to the actual rotational angle of feedback
Number deviation is calculated, corresponding controlled quentity controlled variable is calculated according to certain control algolithm according to deviation, controls rear-axle steering, drive axle hub
Motor differential, the same bridge steering direction in rear-axle steering direction it is opposite, it can be achieved that low vehicle speeds steering, steering of driving at moderate speed,
It runs at high speed and turns to three kinds of steering patterns, complete corresponding steering pattern, included corresponding steering pattern in pair by CAN bus
On display screen.
3. multiaxis hybrid vehicle mechanical-hydraulic according to claim 1 mixes steering with the grouping of active differential,
It is characterized in that：The steering gear 2 includes Splitting Ackerman Steering Linkage and longitudinal steering gear, and a bridge is broken
9 and two bridge disconnected steering trapezoid of open type steering trapezium, 10 postposition, four bridge disconnected steering trapezoids 11 and five bridge breakaway-elements turn to
Trapezoidal 12 is preposition, and Splitting Ackerman Steering Linkage allows the inside and outside wheel corner of every bridge to meet certain relationship；Longitudinal direction turns to transmission
There are pitman arm mechanism 6, steering drag link mechanism 7 and between centers steering gear 8 in mechanism, and pitman arm mechanism 6 is arranged in vertical
Between pull rod, for transmitting between centers angle relation, steering drag link mechanism 7 and between centers steering gear 8 transmit single loop and turn to
Angle relation between 12 and 1 bridge deflecting roller of device, gearratio between direction of transfer disk and one or two bridge steered wheels.
4. multiaxis hybrid vehicle mechanical-hydraulic according to claim 1 mixes steering with the grouping of active differential,
It is characterized in that：The steering hydraulic control system 3 starts driven by engine hydraulic pump 14 and operates, four bridge solenoid electric valves, 18 He
Five bridge solenoid electric valves 19 are power failure state, and four or five bridges are in free steering state, and each bridge corner is unchanged at this time；During steering
Single loop steering gear 17 is controlled by steering control mechanism 1 to control a bridge power-assisted oil cylinder 20 and two bridge power-assisted oil cylinders 21 flexible
Play the role of power-assisted；After selecting steering pattern, four bridge centering locking oil cylinders 22 and five bridge centering locking oil cylinders 23 make under oil pressure
4th, five bridges keep centering lockup state, while can keep deflecting roller straight-going state when wheel hub motor fails, and make vehicle more
Securely and reliably.
5. multiaxis hybrid vehicle mechanical-hydraulic according to claim 1 mixes steering with the grouping of active differential,
It is characterized in that：The steering controller and display system 4 have steering controller, slave display, and it is total that steering controller is based on CAN
The information of vehicles communication system acquisition speed signal of line, wheel hub motor signal are turned by being mounted on the left of one, two, four, five bridges
To the 5 collecting vehicle wheel angular signal of angle sensor device at section in swing arm rotary shaft, the mesh of Real-time Feedback wheel steering angle is realized
, and then rear two bridges steering state is automatically controlled, it can be achieved that three kinds of different steering patterns under different speed, while is led to HMI
Letter uploads steering state information, is shown and opened by instrument board pair display screen.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042727.4A CN108216360A (en) | 2018-01-17 | 2018-01-17 | Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810042727.4A CN108216360A (en) | 2018-01-17 | 2018-01-17 | Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential |
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| CN108216360A true CN108216360A (en) | 2018-06-29 |
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| CN201810042727.4A Withdrawn CN108216360A (en) | 2018-01-17 | 2018-01-17 | Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050656A (en) * | 2018-08-24 | 2018-12-21 | 山东蓬翔汽车有限公司 | The electronic logistics vehicles steering system of unmanned two axis of one kind and its control method |
| CN110001774A (en) * | 2019-04-02 | 2019-07-12 | 中国煤炭科工集团太原研究院有限公司 | A kind of double steering device integrated support carrier |
| CN110313271A (en) * | 2019-08-15 | 2019-10-11 | 苏州智泉农业科技有限公司 | A kind of unmanned seeding apparatus of rice |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
| CN112298078A (en) * | 2020-11-05 | 2021-02-02 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
| CN112319602A (en) * | 2020-11-16 | 2021-02-05 | 吉林大学 | 6X4 electric automobile chassis system capable of achieving all-wheel steering and steering control method |
| CN112498475A (en) * | 2020-12-11 | 2021-03-16 | 湖北航天技术研究院特种车辆技术中心 | Chassis steering system, safety protection method and device |
| CN112977600A (en) * | 2019-12-18 | 2021-06-18 | 北汽福田汽车股份有限公司 | Steering system and vehicle |
| CN113734278A (en) * | 2021-09-30 | 2021-12-03 | 湖南爱力液压密封技术有限公司 | Vehicle five-axle steering control system and method |
| CN113788068A (en) * | 2021-09-07 | 2021-12-14 | 北京航天发射技术研究所 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
| CN115009356A (en) * | 2022-05-26 | 2022-09-06 | 泰安航天特种车有限公司 | Multi-shaft electric control steering hydraulic system and flow matching control method |
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| CN110313271A (en) * | 2019-08-15 | 2019-10-11 | 苏州智泉农业科技有限公司 | A kind of unmanned seeding apparatus of rice |
| CN112977600B (en) * | 2019-12-18 | 2022-05-24 | 北汽福田汽车股份有限公司 | Steering system and vehicle |
| CN112977600A (en) * | 2019-12-18 | 2021-06-18 | 北汽福田汽车股份有限公司 | Steering system and vehicle |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
| CN112298078A (en) * | 2020-11-05 | 2021-02-02 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
| CN112298078B (en) * | 2020-11-05 | 2022-05-10 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
| CN112319602B (en) * | 2020-11-16 | 2023-10-31 | 吉林大学 | 6X4 electric automobile chassis system capable of realizing all-wheel steering and steering control method |
| CN112319602A (en) * | 2020-11-16 | 2021-02-05 | 吉林大学 | 6X4 electric automobile chassis system capable of achieving all-wheel steering and steering control method |
| CN112498475B (en) * | 2020-12-11 | 2022-03-25 | 湖北航天技术研究院特种车辆技术中心 | Chassis steering system, safety protection method and device |
| CN112498475A (en) * | 2020-12-11 | 2021-03-16 | 湖北航天技术研究院特种车辆技术中心 | Chassis steering system, safety protection method and device |
| CN113788068A (en) * | 2021-09-07 | 2021-12-14 | 北京航天发射技术研究所 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
| CN113734278A (en) * | 2021-09-30 | 2021-12-03 | 湖南爱力液压密封技术有限公司 | Vehicle five-axle steering control system and method |
| CN115009356A (en) * | 2022-05-26 | 2022-09-06 | 泰安航天特种车有限公司 | Multi-shaft electric control steering hydraulic system and flow matching control method |
| CN115009356B (en) * | 2022-05-26 | 2024-04-09 | 泰安航天特种车有限公司 | Multi-axis electric control steering hydraulic system and flow matching control method |
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Application publication date: 20180629 |