CN109878570A - A kind of novel rear-wheel active steering apparatus and its control method - Google Patents
A kind of novel rear-wheel active steering apparatus and its control method Download PDFInfo
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Abstract
The invention discloses a kind of novel rear-wheel active steering apparatus, comprising: rear axle subframe；And movement conversion mechanism, the crossbeam top of the rear axle subframe is set；Two track rods, one end are separately connected the both ends of the movement conversion mechanism；Two wheel steering joint arms, one end are connect with the other end of the track rod respectively, and the other end of the wheel steering joint arm is separately connected two rear-wheels；The movement conversion mechanism includes: movement conversion mechanism shell, has the first accommodating chamber；Crank is eccentric wheel, opens up through-hole along axial direction at eccentric point；Crank axle, one end are fixedly connected in the through hole；Sliding block is slidably disposed in first accommodating chamber, and the sliding block has the second accommodating chamber.The present invention also provides a kind of control methods of novel rear-wheel active steering, being capable of the steering angle according to needed for front wheel angle Accurate Control of Automotive rear-wheel when specific speed, yaw velocity and motor turning.
Description
Technical field
The present invention relates to motor turning security fields, and in particular to a kind of novel rear-wheel active steering apparatus and its controlling party
Method.
Background technique
For automobile since birth, main steering mode is always using front-wheel steer as mainstream.Now, on the one hand, vapour
The high speed of vehicle is higher and higher to driving safety stability requirement；On the other hand, urban road space is narrow to automobile steering device
Dynamic flexibility also requires higher and higher, traditional front-wheel steer not to be able to satisfy requirement of the people to automobile gradually.Traditional
Front-wheel steer automobile is responsible for direction transformation by the diverted tie rod linkage control front-wheel of pilot control steering wheel, and rear-wheel direction is solid
Determine, turn to.Although this steering mode has the assistance of various power-assisted steering modes, still have in limited road yeast
When rate steering operation it is blunt it is not flexible, turnaround time is long, steering wheel frequently moves, turning radius is larger, driver's operating burden
Again, and when running at high speed unstability, the disadvantages of braking system burden weight, dynamic property loss, driver's frequent operation.Rear-axle steering
Technology has obviously advantage, and making automobile in case of the low-speed travel state has inhibition understeer characteristic, improves and turns to cross
Gain is put, the flexibility travelled in small space curvature is improved；Inhibit negative understeer characteristic when running at high speed, reduces and turn to cross
Gain is put, the stability run at high speed is improved.
In recent years, there is different rear-wheel Active Steering Techniques successively in various countries.Mainly use following three kinds of modes: mechanical
Rear-wheel steering system, electro-hydraulic formula rear-wheel steering system, electronic type rear-wheel steering system.Wherein, mechanical to pass through mechanical knot
Structure links together foresteerage gear and rear-axle steering gear-box, and rear-wheel while front-wheel active steering is made to realize that active turns
To；Hydrodynamic applies steering force by fluid power cylinder, to rear-wheel；And electronic type active steering does not pass through hydraulic device transmission force
And torque, motor output torque is directly controlled by ECU, response is rapid, structure is simple, the steering control suitable for kart
System.
There is the high-end vehicle in part to be equipped with rear-wheel Active Steering Technique at present, as Cadillac uses ARS in CT6
Rear-wheel active steering cooperates five hangings to realize maximum 3.5 ° of rear-axle steering angle using servo motor.It adopts and angstrom inspires confidence in (ZF)
The AKC rear-wheel active steering apparatus that company develops has been carried out volume production, and driven by Brush-Less DC motor link mechanism changes rear-wheel
Toe-in value is equipped with double actuator versions of the system to provide maximum 6 ° of corner on Porsche 911Turbo and 911GT3
This, is equipped with the central actuator version of the system on newest Porsche Panamera.Bayerische Motorne Werke Aktiengeellschaft is also in car new 7
It is equipped with Intergral active steering, using is motor driven nut, and it is 3 ° maximum to realize to generate axial displacement by screw rod
Rear-axle steering angle.New Audi A8 also uses motor-driven rear-wheel active steering mechanism.
It can be seen that at this stage since electronic type active rear steer has shown biggish performance, cost and safeguards excellent
Gesture makes it have more the market competitiveness, and the most of linear motor that all uses of all kinds of electronic type active rear steers is as execution
Mechanism.The present invention then provides a kind of rear-wheel active steering apparatus and its control method that the one kind for being different from above system is novel.
Summary of the invention
It is an object of the invention to design and develop a kind of novel apparatus for rear wheel steering, apparatus of the present invention are mounted as a whole on
On automobile axle subframe, be directly connected to vehicle right and left rear wheel, compact structure, high sensitivity provides for motor turning
More accurate flexible mode.
Another object of the present invention is to have designed and developed a kind of control method of novel rear-wheel active steering, being capable of basis
Steering angle needed for front wheel angle Accurate Control of Automotive rear-wheel when the specific speed of automobile and motor turning improves motor turning
Precision and the flexibility for greatly improving motor turning.
Technical solution provided by the invention are as follows:
A kind of novel rear-wheel active steering apparatus, comprising:
Rear axle subframe；And
The crossbeam top of the rear axle subframe is arranged in movement conversion mechanism；
Two track rods, one end are separately connected the both ends of the movement conversion mechanism；
Two wheel steering joint arms, one end are connect with the other end of the track rod respectively, the wheel steering
The other end of joint arm is separately connected two rear-wheels；
Wherein, the movement conversion mechanism includes:
Movement conversion mechanism shell has the first accommodating chamber；
Crank is eccentric wheel, opens up through-hole along axial direction at eccentric point；
Crank axle, one end are fixedly connected in the through hole；
Sliding block is slidably disposed in first accommodating chamber, and the sliding block has the second accommodating chamber, described
Crank is slidably disposed in second accommodating chamber.
Preferably, further includes:
Steering motor is fixed on the rear axle subframe, and the axis of the steering motor and longitudinal vehicle axis are same
Axis or parallel arrangement have shell in the output shaft side of the steering motor.
Preferably, further includes:
Deceleration mechanism shell, one end are connect with the shell of steering motor output shaft side, the other end and the fortune
The connection of manual converting mechanism shell；
Eccentric input shaft comprising first axle, the second axis, third axis and the 4th axis, the first axle and steering electricity
Machine connection, the 4th axis are rotatably supported inside output shaft；
First external gear is fixed on second axis by the first external tooth wheel bearing；
Second external gear is fixed on the third axis by the second external tooth wheel bearing；
Ring gear is fixed on the deceleration mechanism shell, the ring gear and first external gear and described the
Two external gears engaged transmission；
Multiple pin shafts, one end is defined in the first external gear, on the second external gear in the axially extending bore of circle distribution；
Output shaft, one end are connect with the other end of the pin shaft, the other end of the output shaft and the crank axle
Input terminal connection.
Preferably, the sliding block further include:
Limitting casing, inner space are second accommodating chamber；
Two sliding block bars, one end symmetrically connect the two sides of the limitting casing, and the other end is separately connected steering described in the side
Drag link.
Preferably, the movement conversion mechanism further include:
Crank axle inputs end bearing, and outer surface is contacted with deceleration mechanism shell inner surface；
Crank axle exports end bearing, and outer surface is contacted with the switching mechanism shell inner surface；
Crank shaft sleeve, end face export end bearing with the crank axle input terminal bearing inner race and the crank axle respectively
The inner face of inner ring is in contact.
A kind of control method of novel rear-wheel active steering, includes the following steps:
Step 1: vehicle driving under the low speed, make rear-wheel corner δrWith front wheel angle δfReversely, low speed assisted diversion control
System rule are as follows:
δγ=K δf；
In formula, δfFor front wheel angle, δrFor rear-wheel corner；K is parameter, and value range is -0.3~-1.5；
Vehicle driving at high speeds, make rear-wheel corner δrWith front wheel angle δfIn the same direction, high speed assisted diversion control law are as follows:
δγ=ξ1δf+ξ2Ucr；
In formula, δrFor rear-wheel active corner, UcFor real-time speed, δfFor front wheel angle, r is yaw velocity, ξ1、ξ2For power
Weight coefficient；
Wherein, the low speed is that speed is not more than 60km/h, and the high speed is that speed is greater than 60km/h；
Step 2: calculating gained rear-wheel corner carries out threshold decision:
If required rear-wheel corner is greater than 5 °, actual rear wheel corner value δγOutput valve is 5 °；
If required rear-wheel corner is less than -5 °, actual rear wheel corner value δγOutput valve is -5 °；
If required rear-wheel corner is at -5 °~+5 °, actual rear wheel corner value δγOutput valve is practical calculated value；
Step 3: calculating crank according to the rear-wheel corner it is expected corner value:
In formula: δcCorner value it is expected for crank, and h is unilateral lateral maximum displacement, and e is the eccentricity of crank；
Wherein, the unilateral lateral maximum displacement h are as follows:
Wherein, h is unilateral lateral maximum displacement, rbFor knuckle arm radius of turn, θ0When for neutral position knuckle arm with
Automobile y-axis angle, ldFor track rod length, δrmFor rear-wheel hard-over；
Step 4: it is expected that corner value calculates motor and it is expected corner according to the crank:
δmr=i δc；
In formula: δmrIt is expected that corner, i are the transmission ratio of motor decelerating mechanism, δ for motorcCorner value it is expected for crank；
Step 5: carrying out threshold decision to motor expectation corner:
If required motor expectation corner is equal with motor output shaft angular position signal, steering motor is closed, power loss system
Dynamic device is opened；
If required motor expectation corner and motor output shaft angular position signal differ, steering motor is opened, power loss system
Dynamic device is closed.
Preferably, speed and yaw velocity are monitored by sensor.
Preferably, the front wheel angle are as follows:
δf=isδs；
Wherein, δfFor front wheel angle, isFor nose wheel steering transmission ratio, δsFor steering wheel angle.
Preferably, the weight coefficient ξ1Value is -1.0.
Preferably, the weight coefficient ξ2Are as follows:
Wherein: m is car weight, and a is front axle to centroid distance, and b is rear axle to centroid distance, and l is wheelbase,WithRespectively
For front axle cornering stiffness, rear axle cornering stiffness.
The present invention compared with prior art possessed by the utility model has the advantages that
(1) novel apparatus for rear wheel steering provided by the invention, is mounted as a whole on automobile axle subframe, be directly connected to
Vehicle right and left rear wheel, compact structure, high sensitivity mention on the basis of vehicle front turns to for the steering of automobile rear wheel
For more accurate flexible mode.
(2) control method of novel rear-wheel active steering provided by the invention, can be according to the specific speed and vapour of automobile
Steering angle needed for front wheel angle Accurate Control of Automotive rear-wheel when vehicle turns to improves motor turning precision and greatly improves vapour
The flexibility that vehicle turns to.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram that rear-wheel active steering apparatus of the present invention is arranged on rear axle.
Fig. 2 is the structural schematic diagram of rear-wheel active steering apparatus actuator of the present invention.
Fig. 3 is the structural schematic diagram of rear-wheel active steering apparatus movement conversion mechanism of the present invention.
Fig. 4 is the structural schematic diagram of the sliding block of rear-wheel active steering apparatus of the present invention.
Fig. 5 is the electric connecting relation figure of rear-wheel active steering apparatus of the present invention.
Fig. 6 is the controller control flow logic chart of rear-wheel active steering apparatus of the present invention.
Specific embodiment
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.
As shown in Figure 1, for the overall construction drawing that novel rear-wheel active steering apparatus of the present invention is arranged on rear axle,
Novel rear-wheel active steering apparatus of the present invention is mainly by steering motor 200, motor decelerating mechanism 300, movement interpreter
Structure 400, left and right turn drag link 600, left and right wheels knuckle arm 700, left and right rear-wheel 100 form.Wherein, steering motor 200
It is horizontally fixed on rear axle subframe 720, and its axis and longitudinal vehicle axis be coaxial or parallel arrangement.Steering motor 200 and electricity
Machine deceleration mechanism 300 is sequentially arranged along its axial direction, and the input of the output shaft 260 of steering motor 200 and motor decelerating mechanism 300
Spline connection is held, and reaches the function of deceleration torque increase by motor decelerating mechanism 300.Then slider type movement conversion mechanism 400
It is arranged in the output end of motor decelerating mechanism 300, and by steering motor 200 until the rotation that motor decelerating mechanism 300 exports
Conversion of motion is the translation of its output end.It should be added that the general only automobile of front-wheel steer, is generally deposited in rear suspension
It is used to the toe-in of maintenance adjustment rear-wheel manually in a trailing wheel toe-in control arm.And for the automobile of four-wheel steering, Ke Yitong
It crosses and cancels the hereafter connection of beam control arm and vehicle frame and be changed to the output end bulb with the movement conversion mechanism of active steering apparatus
The mode of pin connection to automatically control the movement of two sides rear-axle steering in real time；Simultaneously because rear-wheel need to meet bounce and rotation two simultaneously
The coupling of kind movement, therefore the pin shaft connection between original control arm and wheel is instead passed into drag link 600 and rear-axle steering
Bulb pin connection between joint arm 700.For this purpose, the output end of the left and right of movement conversion mechanism 400 two pass through respectively ball stud 710 with
Left and right sides track rod 600 connects, 600 other end of track rod of the left and right sides by ball stud 730 again with left and right
The respective knuckle arm 700 of rear-wheel connects, thus the translation in the same direction that the both ends of movement conversion mechanism 400 are exported be transferred to turn
To the dragging of joint arm, until left and right wheels 100 is driven to complete to turn to the movement deflected.
As shown in Fig. 2, being the actuator of rear-wheel active steering apparatus of the present invention, rear-wheel active steering of the present invention
The actuator of device mainly includes steering motor 200, motor decelerating mechanism 300 and movement conversion mechanism 400.
Steering motor 200 of the present invention need to meet be quick on the draw, run smoothly, can stall, can accurately carry out Angle Position
Control, low speed provide the requirement of larger torque, and should have lesser rotary inertia and structure size.It preferably selects and is equipped with
The non-brush permanent-magnet DC motor 220 of electricity loss brake 210 combines, the mechano-electronic structure that the electricity loss brake 210 has
When motor corner reaches target angle angle value, i.e. motor power-off is instantaneous, and seized rotor avoids motor moment of inertia shadow
Ring Steering sensitivity, it is ensured that, it can be achieved that the power-off of motor unload while corner executes accurate, avoid additional motor power consumption with
Possible motor failure caused by motor rotation blockage, and ensure rear-wheel locked and fixed, mechanically to resist extraneous (ground side
To power etc.) the caused deflection of wheel without reason of interference.
As shown in Fig. 2, the control of the electricity loss brake 210 and brshless DC motor 220 by controller signal, therefore
It needs connection signal line and external dc power to input, brake binding post 230 is preferably separately designed on the two shell
With motor binding post 240；The wherein rotation angular sensing that motor binding post 240 is installed by DC supply input binding post and motor inside
The signal wire binding post of device forms.
Deceleration mechanism 300 of the present invention preferably uses K-H-V type small teeth number difference planet gear mechanism, the internal-external gear number of teeth
Difference seldom, has the advantages that transmission ratio is big, compact-sized, and large transmission ratio transmission can be completed in smaller spatial dimension.In addition
In order to ensure lesser axial dimension, pin-hole type output mechanism is used.And in order to improve the stress shape of the hole pin output mechanism
State and dynamic balancing, using two mutually in planetary gear (i.e. two external gears) structure of 180 ° of arrangements.
As shown in Figure 1, 2, the motor decelerating mechanism 300 mainly include eccentric input shaft 310, the first external tooth wheel bearing 320,
First external gear 330, the second external tooth wheel bearing 321, the second external gear 331, ring gear 340, latch 350, output are pivotally supported
Bearing 360,390,6, the pin shaft sleeve of output shaft 380,6 pin shaft 391, retarder back casing 373, slows down at purge cock 371
Device procapsid 370,4 fot screws 510, shell attachment screw 372, pallet 500, sealing ring 313, input shaft housing support shafts
Hold 311, input shaft between centers bearing support 312, bearing block 314.
First external gear 330 and the second external gear 331, which are engaged with ring gear 340 by gear, realizes large transmission ratio transmission,
The transmission ratio i of deceleration mechanism 300 is calculated by formula (1).
Wherein, z1For the external gear number of teeth, z2For 340 number of teeth of ring gear；Usual teeth number difference is 1~4, currently preferred choosing
Select teeth number difference (z2-z1) it is 1.
The ring gear 340 is fixed with 370 latch 350 of retarder procapsid, outside the first external gear 330 and second
331 circumferencial direction of gear defines axial hole, and the first external gear 330 and the second external gear 331 are arranged with 180 ° of relative angle
When, designed eccentricity, which should meet, makes the corresponding hole keep coaxial, the internal surface of hole and 390 outer surface of pin shaft sleeve
It is in close contact, 390 inner surface of pin shaft sleeve defines pin shaft 391, and pin shaft 391 is overhanging to deceleration outbound course.Slow down defeated
380 beginning of shaft defines step-shaped blind hole and defines through-hole, the through-hole inner surface and pin shaft 391 in circumferential directions along axial
Overhanging end outer surface be in close contact, by planetary gear around revolution axis torque output to reducing output shaft 380.
As shown in Fig. 2, the design of deceleration mechanism 300 adopts a split structure, 370 He of retarder procapsid for convenience of assembling
Back casing 373 is connected by shell attachment screw 372；To reduce shell quality and size, outside the retarder back casing 373
Surface is designed as round table-like.Inside housings, eccentric 310 input terminal end face of input shaft defines splined hole, with motor output shaft
The connection of 260 splines.311 outer surface of input shaft housing bearing support is in contact with 370 inner surface of retarder procapsid, the input
311 inner surface of shaft housing bearing support is contacted with 310 first shaft part outer surface of input shaft, by 370 inner surface boss of procapsid with
Limitation bearing axially position, the bearing block 314 are connected by screw to bearing block 314 with procapsid 370 jointly, and to avoid moistening
Sliding medium oozes out during the high-speed rotation of input shaft 310, and preferred lip shape is close at the 314 inner end positioning shaft shoulder of bearing block
Seal 313 is sealed.Second, third shaft part outer surface of eccentric input shaft 310 respectively with the first external tooth wheel bearing 320 and second
The contact of 321 inner surface of external tooth wheel bearing plays the role of that the first external gear 330 and the second external gear 331 are supported and reduced to turn
Dynamic friction；Eccentric the 4th shaft part outer surface of input shaft 310 is contacted with 312 inner surface of input shaft between centers bearing support, between centers bearing
312 outer surface of bearing is in contact with end face blind hole internal surface described in reducing output shaft 380；380 outer surface of output shaft with it is defeated
360 inner surface of shaft support bearing contacts out, and bearing 360 is then realized by 373 inner surface boss of retarder back casing to output shaft 380
Positioning realize bearing and positioning to input shaft 360 indirectly.Due to the 300 main revolute pair in inside of motor decelerating mechanism
It is arranged in procapsid 370 with the higher part of revolving speed, therefore needs to take lubricant method in retarder procapsid 370,
The design of 373 left side of back casing has purge cock 371, convenient for being added or replacing lubricant medium.
As shown in Figure 1, 2,370 lower end of the procapsid design of motor decelerating mechanism 300 of the present invention has boss, and designs
There are four equally distributed counter sink, retarder procapsid 370 is connected with pallet 500 by fot screw 510, the pallet
500 are connected on subframe 720 by welding manner, to complete positioning of the deceleration mechanism 300 on subframe 720.
In addition, as shown in Fig. 2, right side flange and electricity that steering motor of the present invention 200 passes through motor end shell 250
300 left side flange of machine deceleration mechanism is connected by flange bolt 270, and the screw thread hole number in the ring flange circumferential direction is 4~8
It is a, it is preferred to select 6.And the motor output shaft 260 with external splines is inserted into 300 left end input shaft spline of motor decelerating mechanism
Spline connection is realized in hole, and the power that steering motor 200 exports is transferred to motor decelerating mechanism 300.
As shown in Figure 2 and Figure 3, actuator arrangement form of the present invention determine that device needs will be around being parallel to longitudinal axis
Rotary motion become lateral translation, the movement conversion mechanism 400 that the present invention designs is preferably using eccentric wheel structure and whole
Body formula sliding block.The movement conversion mechanism 400 mainly include crank 410, crank axle 420, stop screw 430, sealing ring 440,
Sliding block sleeve 450, crank shaft sleeve 421, switching mechanism rear shell 470, transformation mechanism front housing 480, (including the limitting casing of sliding block 490
491, sliding block bar 492), crank axle input end bearing 422, crank axle output end bearing 423, dust cover 451, clip 452, ventilation
Hole 483, attachment screw 481, bolt 482.As shown in figure 3, the main advantage of the organization plan is that eccentric wheel crank 410 can be with
Contact is remained on the inside of sliding block 490, without impact when turning to back and forth.
As shown in Fig. 2, the part-structure of crank axle 420 is arranged in retarder back casing 373, crank axle inputs end bearing
422 outer surfaces are in contact with 373 inner surface boss of retarder back casing, and crank axle exports 423 outer surface of end bearing and interpreter
The contact of 480 inner surface of structure front housing, between the two bearings, design has a crank shaft sleeve 421, end face respectively with the crank
The inner face of axis input 422 inner ring of end bearing and crank axle output 423 inner ring of end bearing, which is in contact, realizes the axial direction of bearing
Positioning.The 420 input terminal outer surface of crank axle defines external splines, and 380 end of deceleration mechanism output shaft, which defines, to be matched
Splined hole, connect with 420 spline of crank axle；Similar, 420 output end outer surface of crank axle also defines external splines.
As shown in figure 3, crank 410 is designed as eccentric wheel, eccentric distance e is by the maximum crank rotation angle δ that designscmThe unilateral side and
Lateral maximum displacement h is determined；As shown in Figure 1, steering trapezoidal arm is similar to a slider-crank mechanism, and it is unilateral laterally maximum
Displacement be slider stroke h then with rear-wheel hard-over δrmAnd structural parameters (including the knuckle arm radius of turn of steering trapezoidal arm
rb, track rod length ld, neutral position when knuckle arm and automobile y-axis angle theta0) related；The eccentric distance e meter of crank 410
Shown in following (2) formula of calculation method, (3) formula:
Wherein, maximum crank rotation angle δcmIt should be advisable at 0 °~90 °, be preferably designed as 60 °.
As shown in Fig. 2, opening hole along axial direction at 410 eccentric point of crank, the through-hole inner surface defines internal spline, with
420 output end external splines spline of the crank axle connection.420 distal end faces of crank axle define threaded hole, pass through stop screw
430 limit crank 410 and 420 positional relationship of crank axle, prevent crank 410 along axial abjection.
As shown in figure 4, sliding block 490 is designed as monolithic construction, the enclosed limit including limiting 410 transverse movement of crank
The sliding block bar 492 of position frame 491 and transmitting cross force, 491 inner space of limitting casing is defined as the second accommodating chamber；The limit
Frame 491 and sliding block bar 492 can be connected by casting, forging and pressing direct forming or by welding or riveting as overall structure；
As shown in figure 3, movement conversion mechanism front housing 480 and the limited inner space of rear shell 470 are the first accommodating chamber, sliding block
490 are slidably disposed in the first accommodating chamber；Limitting casing 491 second accommodates inner cavity surface and 410 appearance face contact of crank
And allowing opposite sliding, when the protruding end of crank 410 turns to left side, 491 left inner surface of limitting casing is pressurized, and pushes sliding block
490 entirety move horizontally to the left in the first accommodating chamber, conversely, 491 right side inner surface of limitting casing is pressurized, sliding block 490 is whole
It is moved horizontally to the right in the first accommodating chamber.492 outer surface of sliding block bar is defined in 450 inner surface of sliding block sleeve, the sliding block
450 outer surface of sleeve is defined in 480 inner surface of switching mechanism back casing 470 and switching mechanism procapsid, and the procapsid
480, back casing 470 is connected by as shown in Figure 1 in bolt 482 of all cloth on casing ledge, thus the sleeve 450
The direction of 490 transverse shifting of sliding block can be limited and reduce the sliding friction of sliding block bar 492, increase service life.It is of the present invention
490 output end of sliding block is overhanging to knuckle arm 700, to prevent the impurity such as dust, sandstone from entering switching mechanism 400, in interpreter
Structure procapsid 480, back casing 470,490 end of sliding block mill annular groove, and it is overhanging that dust cover 451 is defined in sliding block by clip 452
Hold outer surface.
As shown in Fig. 2, and in order to avoid the lubricating oil in deceleration mechanism 300 is splashed into switching mechanism 400, movement convert
480 left side of mechanism procapsid designs sealing ring 440 and realizes barrier action, as shown in Figure 2.Particularly, due to slide crank agllutination
Revolving speed is slow at structure, preferred between crank axle 420 and bearing in order to reduce maintenance difficulty, reduce hydraulic losses, using lubricating grease
Lubrication.
As shown in Fig. 2, the present invention designs gas vent 483 on switching mechanism back casing 470, anti-limited slip block is transversely quick
Compressed air when displacement and generate larger resistance, to avoid vapour lock excessive, preferred hole diameter be 2~5mm.
As shown in Fig. 2, switching mechanism procapsid 480 is connected by attachment screw 481 and retarder back casing 373, it is described
Attachment screw quantity is preferred to select 6 at 4~8, thus the actuator of rear-wheel active steering apparatus designed by the present invention
Three main components (steering motor 200, motor decelerating mechanism 300 and movement conversion mechanism 400) are sequentially connected；And move conversion
In the splined hole of 380 right end of reducing output shaft in 420 left end external splines of crank axle insertion deceleration mechanism 400 in mechanism 400,
Power after 300 deceleration torque increase of deceleration mechanism is passed into movement conversion mechanism 400；The external splines of 420 right end of crank axle
Then be inserted into the splined hole at 410 eccentric point of crank, by by deceleration mechanism 300 transmit Lai rotation be converted into dragging left and right turn
The function of actuator is completed in the transverse movement of drag link 600.
It should be noted that rear-wheel active steering apparatus of the present invention can also require to be biased in vehicle frame according to different designs
The independent rear-wheel active steering apparatus is respectively configured in certain side of the plane of symmetry or two sides；Therefore, the change of position and
It is not considered as using double actuator schemes to innovation of the invention.
The present invention also provides a kind of control methods of novel rear-wheel active steering, comprising:
Rear-wheel active corner δrThe real-time speed u measured by sensorc, front wheel angle δf, yaw velocity r and weight
Coefficient ξ1、ξ2It codetermines, at this time the system state equation of vehicle 4WS model are as follows:
Wherein, I is rotary inertia of the automobile around z-axis.
The weight coefficient ξ1、ξ2It should meet certain condition, it is preferred desirable: ξ1=-1.0, and ξ2It is calculated by following formula
It arrives:
Wherein: m is car weight, and a is front axle to centroid distance, and b is rear axle to centroid distance, and l is wheelbase,WithRespectively
For front axle cornering stiffness, rear axle cornering stiffness.
Rear-wheel corner δ of the present inventionrMainly play assisted diversion, to avoid excessive rear-wheel corner from causing excessive cross
The mechanical movement interference put and be likely to occur, rear-wheel corner variation range is preferred, at -5 °~+5 °.If being calculated by control law
Obtained rear-wheel theory corner value is greater than ± 5 °, then actual rotational angle is determined according to maximum (minimum) threshold value.
Line traffic control rear-wheel active steering of the present invention is divided into the control method in the case of speed low speed, two kinds of high speed, due to
Steering wheel and front steering axle have passed through the design that mechanical connection completes specific angle drive characteristic, if from steering wheel or preceding
Take turns the distribution that knuckle carries out rear-wheel corner by mechanical structure, then have it is larger it is possible movement interference occurs or need progress compared with
Significantly Structure redesign, comparatively Comparision is cumbersome；And the line traffic control rear-wheel active steering controls then high degree
It avoids and the newly-increased redesign for turning to and requiring to front axle and suspension.As shown in figure 5, the present invention by sensor, controller,
Signal wire between steering motor 110 carries out the transmitting of steering order.
As shown in fig. 6, specifically, rear-wheel active steering control method of the present invention, i.e. controller logic process are as follows:
1) steering wheel angle signal δ is obtained by steering wheel angle sensors, controller is passed to by signal wire, and by CAN
Bus obtains real-time speed u when turning toc；
2) the transmission ratio i of the nose wheel steering of storage in the controller is calleds, calculate actual front wheel corner δf；
δf=isδs (8)
3) vehicle speed range is judged by controller:
If speed is not higher than 60Km/h, then it is assumed that it runs at a low speed, calls the low speed assisted diversion control law formula (4),
Calculate required rear-wheel corner δrSize；
If speed is higher than 60Km/h, then it is assumed that high speed traveling obtains yaw rate signal r by CAN bus, adjusts
With parameters such as the high speed assisted diversion control law formula (5) and weight coefficients, theoretical rear-wheel corner δ is calculatedrtSize；
4) to calculate to obtain needed for rear-wheel corner carry out threshold decision:
If required rear-wheel corner is greater than 5 °, by 5 ° of output actual rear wheel corner value δ of maximum valuer；
If required rear-wheel corner is less than -5 °, -5 ° of output actual rear wheel corner value δ of reversed maximum valuer；
If required rear-wheel corner is at -5 °~+5 °, by calculated value δrtExport actual rear wheel corner value δr；
5) eccentric distance e that resulting crank 410 is calculated by formula (2), (3) of storage in the controller, with formula (9),
(10) desired 410 corner value δ of crank is calculatedc
6) the transmission ratio i for calling the motor decelerating mechanism 300 of storage in the controller calculates expectation electricity by formula (11)
Machine corner δmr:
δmr=i δc (11)
7) motor output shaft angular position signal δ is read by motor rotary angle transmitter in real timem, pass through the incoming control of signal wire
Device；
8) whether real-time judgment needs motor action:
If motor corner is equal with desired motor corner, power loss instruction is sent to direct current generator 220, to electricity loss brake
210 transmissions power on braking instruction, prevent malfunction；Return to the 1) step；
If motor corner and desired motor corner differ, powering on action command to the transmission of direct current generator 220 makes it rapidly
Movement, sending power loss instruction to electricity loss brake 210 makes its not intervene motor operating, and returns to the 7) step.
In conjunction with the rear-wheel active steering apparatus structure and the control method, the present invention designs specific rear-wheel active steering
Device working method is as follows:
1) each sensor and CAN bus as shown in Figure 5 obtains speed, steering wheel angle, yaw velocity, motor in real time
The signals such as corner；
2) rear-wheel active steering apparatus controller reads the 1) step each signal parameter obtained, after of the present invention
It takes turns active steering control method and the control logic carries out operation；
3) it is acted by signal line steering motor 220 and electricity loss brake 210；
4) power that steering motor output shaft 260 exports is transferred to motor decelerating mechanism input shaft 310 by spline pair, benefit
It is engaged with external gear with the bias of ring gear, converts external gear group around bearing support for the high-speed rotation of eccentric input shaft 310
The low speed revolution of axis is exported defined by 360；
5) external gear group drives pin shaft 391 to carry out the revolution around 380 axis of reducing output shaft, and the driving of pin shaft 391 is slowed down defeated
Shaft 380 rotates, and converts the low speed of external gear to the low speed rotation of reducing output shaft 380；
6) 380 end of output shaft drives crank axle 420 to rotate by spline；
7) crank axle 420 and crank 410 are by the guarantee of stop screw 430 relative position, and pass through spline and transmit power, drive
Eccentric wheel crank 410 is rotated around 420 axis of crank axle；
8) as shown in Fig. 3, sliding block 490 can control translation, be biased to 420 axis of crank axle when the protruding end of crank 410 is gone to
When on the right side of line, 491 right side inner surface of limitting casing is pressurized, and pushes sliding block 490 is whole to be translatable to the right in sliding block sleeve 450；When straight
When galvanic electricity machine 220 inverts, the protruding end of crank 410 is biased on the left of 420 axis of crank axle, then 410 outer surface of crank compresses limit
491 left inner surface of frame pushes sliding block bar 492 to move to left；Monoblock type sliding block 490 then guarantees that sliding block 490 connects with crank 410 always
Touching guarantees that back and forth movement can be quick on the draw no impact；
9) sliding block 490 is whole is translatable to the left, pushes track rod 600 that lateral translation occurs by ball stud 710,
And permission drives knuckle arm 700 to be rotated around stub around the rotation of ball stud 710.
10) when measuring direct current generator 220 in real time by motor rotary angle transmitter and reaching required angular position, signal wire stops supplying
Electricity, reaction locking, guarantee motor are quickly stopped, are accurately positioned electricity loss brake 210 rapidly, i.e. completion rear-wheel active steering is dynamic
Make.
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 (10)
1. a kind of novel rear-wheel active steering apparatus characterized by comprising
Rear axle subframe；And
The crossbeam top of the rear axle subframe is arranged in movement conversion mechanism；
Two track rods, one end are separately connected the both ends of the movement conversion mechanism；
Two wheel steering joint arms, one end are connect with the other end of the track rod respectively, the wheel steering joint arm
The other end be separately connected two rear-wheels；
Wherein, the movement conversion mechanism includes:
Movement conversion mechanism shell has the first accommodating chamber；
Crank is eccentric wheel, opens up through-hole along axial direction at eccentric point；
Crank axle, one end are fixedly connected in the through hole；
Sliding block is slidably disposed in first accommodating chamber, and the sliding block has the second accommodating chamber, the crank
It is slidably disposed in second accommodating chamber.
2. novel rear-wheel active steering apparatus as described in claim 1, which is characterized in that further include:
Steering motor is fixed on the rear axle subframe, and the axis of the steering motor and longitudinal vehicle axis it is coaxial or
Parallel arrangement has shell in the output shaft side of the steering motor.
3. novel rear-wheel active steering apparatus as described in claim 1, which is characterized in that further include:
Deceleration mechanism shell, one end are connect with the shell of steering motor output shaft side, and the other end and the movement turn
Change mechanism shell connection；
Eccentric input shaft comprising first axle, the second axis, third axis and the 4th axis, the first axle and the steering motor connect
It connects, the 4th axis is rotatably supported inside output shaft；
First external gear is fixed on second axis by the first external tooth wheel bearing；
Second external gear is fixed on the third axis by the second external tooth wheel bearing；
Ring gear is fixed on the deceleration mechanism shell, outside the ring gear and first external gear and described second
Gear engaged transmission；
Multiple pin shafts, one end is defined in the first external gear, on the second external gear in the axially extending bore of circle distribution；
Output shaft, one end are connect with the other end of the pin shaft, the input of the other end of the output shaft and the crank axle
End connection.
4. novel rear-wheel active steering apparatus as described in claim 1, which is characterized in that the sliding block further include:
Limitting casing, inner space are second accommodating chamber；
Two sliding block bars, one end symmetrically connect the two sides of the limitting casing, and the other end is separately connected the horizontal drawing of steering described in the side
Bar.
5. novel rear-wheel active steering apparatus as described in claim 1, which is characterized in that the movement conversion mechanism also wraps
It includes:
Crank axle inputs end bearing, and outer surface is contacted with deceleration mechanism shell inner surface；
Crank axle exports end bearing, and outer surface is contacted with the switching mechanism shell inner surface；
Crank shaft sleeve, end face respectively with the crank axle input terminal bearing inner race and the crank axle output end bearing inner race
Inner face be in contact.
6. a kind of control method of novel rear-wheel active steering, includes the following steps:
Step 1: vehicle driving under the low speed, make rear-wheel corner δrWith front wheel angle δfReversely, low speed assisted diversion control law
Are as follows:
δγ=K δf；
In formula, δfFor front wheel angle, δrFor rear-wheel corner；K is parameter, and value range is -0.3~-1.5；
Vehicle driving at high speeds, make rear-wheel corner δrWith front wheel angle δfIn the same direction, high speed assisted diversion control law are as follows:
δγ=ξ1δf+ξ2Ucr；
In formula, δrFor rear-wheel active corner, UcFor real-time speed, δfFor front wheel angle, r is yaw velocity, ξ1、ξ2For weight system
Number；
Wherein, the low speed is that speed is not more than 60km/h, and the high speed is that speed is greater than 60km/h；
Step 2: calculating gained rear-wheel corner carries out threshold decision:
If required rear-wheel corner is greater than 5 °, actual rear wheel corner value δγOutput valve is 5 °；
If required rear-wheel corner is less than -5 °, actual rear wheel corner value δγOutput valve is -5 °；
If required rear-wheel corner is at -5 °~+5 °, actual rear wheel corner value δγOutput valve is practical calculated value；
Step 3: calculating crank according to the rear-wheel corner it is expected corner value:
In formula: δcCorner value it is expected for crank, and h is unilateral lateral maximum displacement, and e is the eccentricity of crank；
Wherein, the unilateral lateral maximum displacement h are as follows:
Wherein, h is unilateral lateral maximum displacement, rbFor knuckle arm radius of turn, θ0Knuckle arm and automobile when for neutral position
Y-axis angle, ldFor track rod length, δrmFor rear-wheel hard-over；
Step 4: it is expected that corner value calculates motor and it is expected corner according to the crank:
δmr=i δc；
In formula: δmrIt is expected that corner, i are the transmission ratio of motor decelerating mechanism, δ for motorcCorner value it is expected for crank；
Step 5: carrying out threshold decision to motor expectation corner:
If required motor expectation corner is equal with motor output shaft angular position signal, steering motor is closed, electricity loss brake
It opens；
If required motor expectation corner and motor output shaft angular position signal differ, steering motor is opened, electricity loss brake
It closes.
7. the control method of novel rear-wheel active steering as claimed in claim 6, which is characterized in that pass through sensor monitoring car
Speed and yaw velocity.
8. the control method of novel rear-wheel active steering as claimed in claim 6, which is characterized in that the front wheel angle are as follows:
δf=isδs；
Wherein, δfFor front wheel angle, isFor nose wheel steering transmission ratio, δsFor steering wheel angle.
9. the control method of novel rear-wheel active steering as claimed in claim 6, which is characterized in that the weight coefficient ξ1It takes
Value is -1.0.
10. the control method of novel rear-wheel active steering as claimed in claim 9, which is characterized in that the weight coefficient ξ2
Are as follows:
Wherein: m is car weight, and a is front axle to centroid distance, and b is rear axle to centroid distance, and l is wheelbase,WithBefore respectively
Axis cornering stiffness, rear axle cornering stiffness.
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| CN201910292362.5A CN109878570B (en) | 2019-04-12 | 2019-04-12 | Active steering device for rear wheels and control method thereof |
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|---|---|---|---|
| CN201910292362.5A CN109878570B (en) | 2019-04-12 | 2019-04-12 | Active steering device for rear wheels and control method thereof |
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| CN113942567A (en) * | 2021-10-29 | 2022-01-18 | 杭州世宝汽车方向机有限公司 | Double-motor driven steering gear |
| US11325638B2 (en) | 2019-07-11 | 2022-05-10 | Jilin University | Dual-mode active rear-wheel steering device |
| CN114644044A (en) * | 2021-05-24 | 2022-06-21 | 长城汽车股份有限公司 | Vehicle steering control method and device and vehicle |
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