CN108275204A - four-wheel drive differential steering vehicle and method - Google Patents
four-wheel drive differential steering vehicle and method Download PDFInfo
- Publication number
- CN108275204A CN108275204A CN201810068820.2A CN201810068820A CN108275204A CN 108275204 A CN108275204 A CN 108275204A CN 201810068820 A CN201810068820 A CN 201810068820A CN 108275204 A CN108275204 A CN 108275204A
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- wheel
- clutch
- vehicle
- differential steering
- frame
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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
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
Abstract
The present invention relates to a kind of four-wheel drive differential steering vehicle and methods, belong to Vehicular turn technical field, four-wheel drive differential steering vehicle is made of front frame, Rear frame, clutch, suspension, wheel, front frame and Rear frame are generally aligned in the same plane interior rotation connection, relative rotation is controlled by clutch, four suspensions are by given wheelbase a and wheelspan b is symmetrical is separately mounted in front frame and Rear frame, and four suspension lower parts couple with four wheels respectively；Four wheels independently drive, four drivings of wheel differential, Vehicular turns when clutch detaches, the driving of the rotating speeds such as four wheels, vehicle straight trip when clutch combines under the conditions of θ=0；One kind is provided and is suitable for wheelspan and wheelbase ratio k<1 four-wheel drive differential steering vehicle and forward method realizes the differential steering of slender type vehicle.
Description
Technical field
The invention belongs to Vehicular turn technical field, more particularly to a kind of four-wheel drive differential steering vehicle and steering side
Method.
Background technology
Differential steering technology is that vehicle realizes that steering, driving wheel speed are different by controlling the rotating speed of the right and left driving wheel
When, though without deflecting roller or deflecting roller be failure to actuate vehicle body if can rotate；Drive the difference of wheel speed that can be installed by operating
Two individual clutches or brake apparatus on the semiaxis of left and right are realized, in engineering machinery independent using hydraulic motor four-wheel
Driving realizes differential steering by the difference of inside and outside driving wheel speed.Four-wheel drive differential steering chassis have it is simple in structure,
The features such as easy to use, maneuverability, have the sliding loader of four-wheel drive differential steering, be widely used in urban construction,
Road or construction site；The vehicle of four-wheel drive differential steering in recent years is widely used in the operations such as agricultural, forestry, animal husbandry
Place.
Four-wheel drive differential steering be suitable for wheelspan and wheelbase ratio k ＞ 1 vehicle, optimum valuing range for k=1.3~
1.4, the wheelspan and wheelbase of optimization reduce energy than that can provide preferable stability, optimal steering behaviour for vehicle
Loss reduces tire wear.As k ＞ 1.4, the problem that intact stability is poor, rated load is small, application conditions and ring can be caused
Border is restricted；It as 1.3 ＞ k ＞ 1.0, although stability increases, breaks away and increases, cause steering behaviour to be deteriorated, energy damage
Consumption increases, while can cause that tire wear is too fast, ground-engaging element stress is larger；For wheelspan and wheelbase ratio k<1.0 vehicle, side
Cunning increased dramatically, and can not apply four-wheel drive differential steering technology.Study wheelspan and wheelbase ratio k<1 four-wheel drive differential steering
Technology, the four-wheel drive differential steering applied to slender type vehicle have broad application prospects.
Invention content
The invention aims to provide one kind being suitable for wheelspan and wheelbase ratio k<1 four-wheel drive differential steering vehicle and
Forward method realizes the differential steering of slender type vehicle.
It is as follows in order to reach the technical solution that the purpose of the present invention is taken：
Four-wheel drive differential steering vehicle, including：Front frame (1), Rear frame (2), clutch (3), suspension (4), vehicle
It takes turns (5), front frame (1) and Rear frame (2) are located at rotation in same vehicle frame plane M and couple, pivot center PP, rotational angle theta, PP ⊥ M,
Front frame (1) and Rear frame (2) are relatively rotated in vehicle frame plane M is controlled by clutch (3), when clutch (3) detaches
Front frame (1) and Rear frame (2) are freely rotated around axis PP, when clutch (3) combines under the conditions of θ=0 front frame (1) and
Rear frame (2) becomes same rigid body, and four suspensions (4) are pacified respectively in pairs by given wheelbase a and wheelspan b is symmetrical
In front frame (1) and Rear frame (2), four suspension (4) lower parts couple with four wheels (5) respectively, and axis PP is located at vehicle
Longitudinally central plane, axis PP and two front truck wheel axis vertical interlaceds, distance c, axis PP and two rear wheel axis hang down
It is straight staggeredly, d, a=c+d, four wheels (5) of distance independently drive, four wheel (5) differentials drivings when clutch (3) detaches,
Vehicular turn, the driving of the rotating speeds such as four wheels (5), vehicle straight trip, four wheels when clutch (3) combines under the conditions of θ=0
(5) order of placement on forward and backward vehicle frame is F1、F2、F3、F4。
The clutch (3) has knot using mechanical clutch, electromagnetic clutch or hydraulic clutch etc.
The mechanism with separation function is closed, can realize differential steering；
The wheel hub of the wheel (5) using motor or hydraulic motor etc. can independent control rotating speed power plant driving,
It can realize four-wheel drive, differential steering；
Four-wheel drive differential steering method, including：
When Vehicular turn, steering angle α, α ＞ 0, clutch (3) separation, four wheel (5) differential drivings, vehicle are given
Take turns F1、F2、F3、F4Rotating speed be respectively n1、n2、n3、n4, meet following relationship：
BySolve β；Four wheel pure rolling conditions are when Vehicular turn：
Given wheel F1Rotary speed n1, other three wheel F are acquired by three above relational expression2、F3、F4Rotating speed difference
For n2、n3、n4, realize vehicle steering angle α, obtain turning radius
In vehicle travel process, after giving arbitrary steering angle α, by travel speed v when Vehicular turn, in conjunction with three relationships
The rotating speed that formula acquires four wheels is respectively n1、n2、n3、n4, complete differential speed of vehicle and turn to, realize Vehicular turn Digital Control.
In steering procedure, forward and backward vehicle frame rotational angle theta adaptive change reduces wheel lateral sliding during four-wheel drive differential steering,
Thus provide wheelspan and wheelbase ratio k<1 vehicular four wheels drive differential steering method, realize the differential steering of slender type vehicle.
n1=n2=n3=n4When, straight line traveling；For vehicle during straight-line travelling, clutch (3) is in θ=0
It is combined under part, the driving of the rotating speeds such as four wheels (5)；After clutch (3) combines, forward and backward vehicle frame locking becomes a rigid body, pole
The earth is reduced since road conditions cause wheel-slip to travel linear influence to vehicle.
The beneficial effects of the present invention are provide one kind and being suitable for wheelspan and wheelbase ratio k<1 four-wheel drive differential steering
Vehicle and forward method realize the differential steering of slender type vehicle；The vehicle has Digital Control vehicle steering angle
Function is applied to intelligent vehicle steering control system, realizes Vehicular automatic driving.
Description of the drawings
Fig. 1 is four-wheel drive differential steering vehicle main view schematic diagram；
Fig. 2 is that four-wheel drive differential steering vehicle overlooks schematic diagram；
Fig. 3 is four-wheel drive differential steering Vehicular turn schematic diagram；
Wherein, 1：Front frame；2：Rear frame；3：Clutch；4：Suspension；5：Wheel.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.
Four-wheel drive differential steering vehicle main view schematic diagram shown in FIG. 1, four-wheel drive differential steering vehicle, including：Before
Vehicle frame (1), Rear frame (2), clutch (3), suspension (4), wheel (5), front frame (1) and Rear frame (2) are located at same vehicle
Rotation connection, pivot center PP, rotational angle theta, PP ⊥ M, front frame (1) and Rear frame (2) phase in vehicle frame plane M in frame plane M
Rotation is controlled by clutch (3), front frame (1) and Rear frame (2) freely turn around axis PP when clutch (3) detaches
Dynamic, front frame (1) and Rear frame (2) become same rigid body, clutch when clutch (3) combines under the conditions of θ=0
(3) use mechanical clutch, electromagnetic clutch or hydraulic clutch etc. that there is the mechanism of combination and separation function, equal energy
Enough realize differential steering；Four suspensions (4) are by given wheelbase a and wheelspan b is symmetrical is separately mounted to front truck in pairs
On frame (1) and Rear frame (2), four suspension (4) lower parts couple with four wheels (5) respectively, and axis PP is located in longitudinal direction of car
Entreat plane, axis PP and two front truck wheel axis vertical interlaceds, distance c, axis PP and two rear wheel axis vertical interlaceds, away from
From d, a=c+d, four wheels (5) independently drive, four drivings of wheel (5) differential, Vehicular turns when clutch (3) detaches,
When clutch (3) combines under the conditions of θ=0 rotating speeds such as four wheels (5) driving, vehicle straight trip, four wheels (5) it is preceding,
Order of placement in Rear frame is F1、F2、F3、F4(as shown in Figure 2)；The wheel hub of wheel (5) can using motor or hydraulic motor etc.
The power plant of independent control rotating speed drives, and can realize four-wheel drive, differential steering.Four-wheel drive enhances the row of vehicle
Power is sailed, differential steering simplifies the steering of vehicle, is better adapted to the operating environments such as agricultural, forestry, animal husbandry.
Four-wheel drive differential steering Vehicular turn schematic diagram shown in Fig. 3, four-wheel drive differential steering method, including：
When Vehicular turn, steering angle α, α ＞ 0, clutch (3) separation, four wheel (5) differential drivings, vehicle are given
Take turns F1、F2、F3、F4Rotating speed be respectively n1、n2、n3、n4, meet following relationship：
BySolve β；Four wheel pure rolling conditions are when Vehicular turn：
Given wheel F1Rotary speed n1, other three wheel F are acquired by three above relational expression2、F3、F4Rotating speed difference
For n2、n3、n4, realize vehicle steering angle α, obtain turning radius
In vehicle travel process, after giving arbitrary steering angle α, by travel speed v when Vehicular turn, in conjunction with three relationships
The rotating speed that formula acquires four wheels is respectively n1、n2、n3、n4, complete differential speed of vehicle and turn to, realize Vehicular turn Digital Control.
Forward and backward vehicle frame rotational angle theta adaptive change in steering procedure, reduces wheel lateral sliding during four-wheel drive differential steering,
Thus provide wheelspan and wheelbase ratio k<1 vehicular four wheels drive differential steering method, realize the differential steering of slender type vehicle.
n1=n2=n3=n4When, straight line traveling；For vehicle during straight-line travelling, clutch (3) is in θ=0
It is combined under part, the driving of the rotating speeds such as four wheels (5)；After clutch (3) combines, forward and backward vehicle frame locking becomes a rigid body, pole
The earth is reduced since road conditions cause wheel-slip to travel linear influence to vehicle.
With reference to Cherry's PK400-B tractor chassis, experimental prototype design parameter：Wheelbase a=1966mm, wheelspan b=
1300mm, c=766mm, d=a-c=1200mm, radius of wheel r=400mm, wheelspan and wheelbase ratio k=0.66, give vehicle
Steering angle α=0~45 °.When setting turns to when travel speed v=5km/h：
When α=20 °, n1=29.05r/min, n2=36.66r/min, n3=36.21r/min, n4=28.60r/
Min, R=6263.1mm；
When α=30 °, n1=26.81r/min, n2=38.14r/min, n3=37.13r/min, n4=25.80r/
Min, R=4376.8mm；
When α=40 °, n1=24.49r/min, n2=39.44r/min, n3=37.62r/min, n4=22.68r/
Min, R=3429.8mm；
Experimental prototype provides wheelspan and wheelbase ratio k<1 four-wheel drive differential steering chassis design parameter and steering side
Method realizes the differential steering of slender type vehicle；Model machine chassis has the function of Digital Control vehicle steering angle, is applied to intelligence
Energy vehicle steering control system, realizes Vehicular automatic driving.Four-wheel drive differential steering chassis, will be more suitable for agricultural, forestry,
The operating environments such as animal husbandry.
Claims (4)
1. four-wheel drive differential steering vehicle, which is characterized in that including：Front frame, Rear frame, clutch, suspension, wheel,
Front frame and Rear frame are located at rotation connection, pivot center PP, rotational angle theta, PP ⊥ M, in vehicle frame plane M in same vehicle frame plane M
Interior front frame and Rear frame relative rotation is controlled by clutch, clutch detach when front frame and Rear frame around axis PP from
By rotating, front frame and Rear frame become same rigid body when clutch combines under the conditions of θ=0, and four suspensions are by given
Wheelbase a and wheelspan b is symmetrical is separately mounted in front frame and Rear frame in pairs, four suspension lower parts are respectively with four
A wheel connection, axis PP are located at longitudinal direction of car central plane, axis PP and two front truck wheel axis vertical interlaceds, distance c, axis
Line PP and d, a=c+d, four two rear wheel axis vertical interlaceds, distance wheels independently drive, four when clutch detaches
The driving of wheel differential, Vehicular turn, the driving of the rotating speeds such as four wheels, vehicle straight trip when clutch combines under the conditions of θ=0.
2. four-wheel drive differential steering vehicle according to claim 1, which is characterized in that the clutch uses machine
Tool formula clutch, electromagnetic clutch or hydraulic clutch etc. have the mechanism of combination and separation function.
3. four-wheel drive differential steering vehicle according to claim 1, which is characterized in that the wheel hub of the wheel is using electricity
Machine or hydraulic motor etc. can independent control rotating speed power plant driving.
4. four-wheel drive differential steering method, which is characterized in that including：
When Vehicular turn, steering angle α, clutch separation, four wheel differential drivings, wheel F are given1、F2、F3、F4Turn
Speed is respectively n1、n2、n3、n4, meet following relationship：
BySolve β；
Given wheel F1Rotary speed n1, other three wheel F are acquired by three above relational expression2、F3、F4Rotating speed be respectively
n2、n3、n4, realize vehicle steering angle α, obtain turning radius
n1=n2=n3=n4When, straight line traveling；Vehicle during straight-line travelling, under the conditions of θ=0 tie by clutch
It closes, the driving of the rotating speeds such as four wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068820.2A CN108275204A (en) | 2018-01-24 | 2018-01-24 | four-wheel drive differential steering vehicle and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068820.2A CN108275204A (en) | 2018-01-24 | 2018-01-24 | four-wheel drive differential steering vehicle and method |
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| Publication Number | Publication Date |
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| CN108275204A true CN108275204A (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810068820.2A Pending CN108275204A (en) | 2018-01-24 | 2018-01-24 | four-wheel drive differential steering vehicle and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017017A (en) * | 2019-12-09 | 2020-04-17 | 中联重科股份有限公司 | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform |
| CN112078659A (en) * | 2020-09-28 | 2020-12-15 | 中国农业大学 | Multi-wheel independent drive double-axle hinged chassis steering control method |
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| CN102180194A (en) * | 2011-04-28 | 2011-09-14 | 南京航空航天大学 | Adaptive steering system of timely four-wheel drive electric wheel automobile and control method thereof |
| US20130075169A1 (en) * | 2011-09-22 | 2013-03-28 | Philip J. Otto | Swather Tractor with Rear Wheel Active Steering |
| CN103448797A (en) * | 2013-09-03 | 2013-12-18 | 中国农业大学 | Wheel span adjustment and steering linkage mechanism |
| CN204713200U (en) * | 2015-01-04 | 2015-10-21 | 西北农林科技大学 | A kind of radial type satellite gear four-wheel drive cars four-wheel differentia steering model |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
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2018
- 2018-01-24 CN CN201810068820.2A patent/CN108275204A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102180194A (en) * | 2011-04-28 | 2011-09-14 | 南京航空航天大学 | Adaptive steering system of timely four-wheel drive electric wheel automobile and control method thereof |
| US20130075169A1 (en) * | 2011-09-22 | 2013-03-28 | Philip J. Otto | Swather Tractor with Rear Wheel Active Steering |
| CN103448797A (en) * | 2013-09-03 | 2013-12-18 | 中国农业大学 | Wheel span adjustment and steering linkage mechanism |
| CN204713200U (en) * | 2015-01-04 | 2015-10-21 | 西北农林科技大学 | A kind of radial type satellite gear four-wheel drive cars four-wheel differentia steering model |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017017A (en) * | 2019-12-09 | 2020-04-17 | 中联重科股份有限公司 | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform |
| CN112078659A (en) * | 2020-09-28 | 2020-12-15 | 中国农业大学 | Multi-wheel independent drive double-axle hinged chassis steering control method |
| CN112078659B (en) * | 2020-09-28 | 2021-08-17 | 中国农业大学 | Multi-wheel independent drive double-axle hinged chassis steering control method |
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Application publication date: 20180713 |
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