CN110027619A - A kind of wheel steering control method and wheel steering control system - Google Patents
A kind of wheel steering control method and wheel steering control system Download PDFInfo
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- CN110027619A CN110027619A CN201910369047.8A CN201910369047A CN110027619A CN 110027619 A CN110027619 A CN 110027619A CN 201910369047 A CN201910369047 A CN 201910369047A CN 110027619 A CN110027619 A CN 110027619A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000003447 ipsilateral effect Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 3
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
Classifications
-
- 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
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
Abstract
The present invention discloses a kind of wheel steering control method, obtains the active inscribed circle of two active steering wheels, using the center of circle of active inscribed circle as the center of circle, obtains the driven inscribed circle of two driven deflecting rollers；Utilize the spacing of two active steering wheels and the spacing of active steering wheel and driven deflecting roller, the corner of driven deflecting roller is calculated according to the correspondence geometrical relationship of active inscribed circle and the driven inscribed circle, the result being calculated, apply diversion order to driven deflecting roller, two driven deflecting rollers rotate identical corner in the opposite direction；The motion profile of two active steering wheels is on the same circumference, the motion profile of two driven deflecting rollers is on the same circumference, the corner of driven deflecting roller is determined according to the corner of active steering wheel, intermediate conversion calculating is carried out using active inscribed circle and driven inscribed circle, guarantee that driven deflecting roller is corresponding with the corner of active steering wheel, vehicle surrounds the same center of circle always and turns to.Wheel turns to holding under counter-steering mode and turns to synchronization.
Description
Technical field
The present invention relates to Vehicle Engineering technical fields, further relate to a kind of wheel steering control method.In addition, this hair
It is bright to further relate to a kind of wheel steering control system.
Background technique
During the turn, the distance positioned at the wheel movement of inside is short for vehicle, and the wheel movement distance positioned at outside is long,
Inner and outer vehicle is caused rotational speed difference occur, traditional vehicle largely passes through engine or motor generates power, passes through
Transmission shaft transfers power to each wheel.
Traditional vehicle usually only has front-wheel for turning to, and the corner of two front-wheels of steering wheel synchronously control makes two vehicles
Wheel keeps identical angle, and since there are rotational speed differences, major part vehicle is all made of differential mechanism and solves the problems, such as rotational speed difference, differential at present
For device by the wheel of transmission axis connection two sides, differential mechanism is hardware device, and effect is most important, is increased manufacturing cost.
Without using differential mechanism, the revolving speed that each hub motor changes itself meets to be turned the wheel that hub motor is operated alone
Speed difference.The steering angle for how adjusting the motor-driven wheel of wheel hub is the current technical issues that need to address.
Summary of the invention
The present invention provides a kind of wheel steering control method, adjusts the steering angle of the motor-driven wheel of wheel hub, makes four
The steering of a wheel is synchronous, and concrete scheme is as follows:
A kind of wheel steering control method, comprising:
Obtain the active inscribed circle of two active steering wheels, wherein two active steering wheels be positioned at it is ipsilateral, press
The deflecting roller of opposite direction rotation equal angular；
Using the center of circle of the active inscribed circle as the center of circle, the driven inscribed circle of two driven deflecting rollers is obtained；
Utilize the corner of the active steering wheel, the spacing L2 and the active steering of two active steering wheels
The spacing L1 of wheel and the driven deflecting roller calculates institute according to the correspondence geometrical relationship of active inscribed circle and the driven inscribed circle
State the corresponding corner of driven deflecting roller；
Apply diversion order to the driven deflecting roller, rotates two driven deflecting rollers in the opposite direction identical
Corner.
Optionally, further includes: before calculating the driven corresponding corner of deflecting roller, detect whether that there are the actives
Angle collation table between the corner of deflecting roller and the corner of the driven deflecting roller；If so, then according to the angle collation table
Corresponding relationship, extract the corner of the driven deflecting roller；Apply diversion order to the driven deflecting roller, make two described in from
Dynamic deflecting roller rotates identical corner in the opposite direction；
The angle collation table is calculated according to the geometrical relationship between the active inscribed circle and the driven inscribed circle
It arrives.
Optionally, when the active steering wheel is the wheel of inside, the corner of the driven deflecting roller is counted as follows
It calculates:
α=arctan L_2/ (2L_1+L_2cot β)
Wherein: spacing of the L1 between inside vehicle and outboard wheels；L2 is two inside vehicles or two outside vehicles
Between spacing；α is outboard wheels corner；β is inboard wheel corner.
Optionally, when the active steering wheel is the wheel in outside, the corner of the driven deflecting roller is counted as follows
It calculates:
β=arctan L_2/ (L_2cot α -2L_1)
Wherein: spacing of the L1 between inboard wheel and outboard wheels；L2 is two inboard wheels or two outboard wheels
Between spacing；α is outboard wheels corner；β is inboard wheel corner.
Optionally, according to the corner of the active steering wheel, the corner of driven deflecting roller, two active steering wheels
The spacing L1 of spacing L2, the active steering wheel and the driven deflecting roller obtain the perimeter of the active inscribed circle, Yi Jisuo
The perimeter for stating driven inscribed circle calculates the perimeter ratio of the active inscribed circle and the driven inscribed circle, makes the active steering
Revolving speed ratio between wheel and the driven deflecting roller is equal to the perimeter ratio.
Optionally, gas pedal sends speed controling signal to the programmable controller, and the programmable controller is with outside
Wheel on the basis of, according to the perimeter than equal proportion reduce inside vehicle wheel rotational speed.
The present invention also provides a kind of wheel steering control systems characterized by comprising
Inscribed circle obtains module, can obtain the active inscribed circle of two active steering wheels, wherein two actives turn
To wheel for positioned at ipsilateral, rotation equal angular in the opposite direction deflecting roller；It can be with the center of circle of the active inscribed circle
For the center of circle, the driven inscribed circle of two driven deflecting rollers is obtained；
Corner computing module, using the corner of the active steering wheel, two active steering wheels spacing L2 and
The spacing L1 of the active steering wheel and the driven deflecting roller, the correspondence according to active inscribed circle and the driven inscribed circle are several
What relationship calculates the driven corresponding corner of deflecting roller；
Corner output module, for applying diversion order to the driven deflecting roller, make two driven deflecting rollers by
Opposite direction rotates identical corner；
Memory module is compareed, for storing between the corner of the active steering wheel and the corner of the driven deflecting roller
Angle collation table；The angle collation table is calculated according to the geometrical relationship between the active inscribed circle and the driven inscribed circle
It obtains.
The present invention provides a kind of wheel steering control methods, obtain the active inscribed circle of two active steering wheels, wherein
Two active steering wheels are positioned at ipsilateral, rotation equal angular in the opposite direction deflecting roller；Due to two ipsilateral masters
Dynamic deflecting roller synchronous backward rotation, two active steering wheels are symmetrical, therefore the center of circle of active inscribed circle is located at active steering
On the symmetry axis of wheel；Using the center of circle of active inscribed circle as the center of circle, the driven inscribed circle of two driven deflecting rollers is obtained；Utilize two
The spacing of active steering wheel and the spacing of active steering wheel and driven deflecting roller, according to active inscribed circle and it is described it is driven in
The correspondence geometrical relationship of the circle of contact calculates the corner of driven deflecting roller, being calculated to turn to life as a result, applying to driven deflecting roller
It enables, two driven deflecting rollers is made to rotate identical corner in the opposite direction；The motion profile of two active steering wheels is same
On circumference, on the same circumference, active inscribed circle and driven inscribed circle share the center of circle, root to the motion profile of two driven deflecting rollers
The corner that driven deflecting roller is determined according to the corner of active steering wheel carries out intermediate conversion using active inscribed circle and driven inscribed circle
It calculates, guarantees that driven deflecting roller is corresponding with the corner of active steering wheel, vehicle surrounds the same center of circle always and turns to.Four wheels exist
It turns to keep turning under counter-steering mode and synchronize.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of wheel steering control method provided by the invention；
The schematic diagram of Fig. 2 relationship between active inscribed circle and driven inscribed circle and wheel.
Specific embodiment
Core of the invention is to provide a kind of wheel steering control method, turns four wheels under counter-steering mode
It is synchronized to keeping turning to.
In order to make those skilled in the art more fully understand technical solution of the present invention, below in conjunction with attached drawing and specifically
Embodiment, explanation is described in detail to wheel steering control method and wheel steering control system of the invention.
As shown in Figure 1, being the flow chart of wheel steering control method provided by the invention, comprising the following steps:
S1, the active inscribed circle for obtaining two active steering wheels, wherein two active steering wheels be positioned at it is ipsilateral, press
The deflecting roller of opposite direction rotation equal angular；The rotation process of active steering wheel are as follows: apply to active steering wheel and turn to life
It enables, two active steering wheels is made to rotate identical angle, the corner of active steering wheel and the corner of steering wheel in the opposite direction
Corresponding, steering wheel rotates certain angle, and relationship obtains active steering wheel rotation phase to the corner of steering wheel according to a certain percentage
The angle answered.Since the corner of two active steering wheels is identical, and corner is contrary, therefore two active steering wheels are in pair
Claim distribution, the center of circle of active inscribed circle is on the symmetry axis of active steering wheel, the circle of two active steering wheels and active inscribed circle
Week is tangent, and point of contact is the centre of gyration of active steering wheel；The center of circle acquisition process of active inscribed circle are as follows: cross two actives respectively and turn
Vertical line is done to wheel, vertical line is vertical with the direction of travel of active steering wheel, and the intersection point of two vertical lines is the center of circle.
S2, using the center of circle of active inscribed circle as the center of circle, obtain two driven deflecting rollers driven inscribed circle；Driven inscribed circle
Radius be the center of circle to the distance of driven deflecting roller, the corner of two driven deflecting rollers is identical, and rotation direction is opposite.Two driven
The circumference of deflecting roller and driven inscribed circle is tangent, and point of contact is the centre of gyration of driven deflecting roller.
S3, the corner of active steering wheel, the spacing L of two active steering wheels are utilized2And active steering wheel and from turn
To the spacing L of wheel1, calculate the corner of driven deflecting roller；And the radius of active inscribed circle, perimeter are obtained, obtain driven inscribed circle
Radius, perimeter；The spacing L of the corner of active steering wheel, two active steering wheels2, active steering wheel and driven deflecting roller
Spacing L1Three is known quantity, can be calculated by the correspondence geometrical relationship of active inscribed circle and driven inscribed circle from turn
To the corner of wheel.
S4, Xiang Congdong deflecting roller apply diversion order, and two driven deflecting rollers is made to rotate identical turn in the opposite direction
Angle；Counter-steering mode refers to that the rotation direction of ipsilateral deflecting roller is different, and each wheel is rolled around the shaft of itself, realizes and turns
It is curved.For the corner of driven deflecting roller since above-mentioned steps S3 is calculated, the corner of active steering wheel is corresponding by the corner of steering wheel
It obtains, the corner of driven deflecting roller obtains after active inscribed circle and driven inscribe geometry of the circle calculate, and guarantees driven deflecting roller
Corresponding with the corner of active steering wheel, each steered wheel surrounds the same center of circle always and turns to.
In wheel steering control method of the invention, active steering wheel rotates different angles from driven deflecting roller respectively,
The corner of two active steering wheels is identical, and the corner of two driven deflecting rollers is identical, and active steering wheel and driven deflecting roller surround
Same center of circle movement, realizes counter-steering mode.
For traditional only vehicle of two front-wheel steers, four wheels are deflecting roller, and around identical
The center of circle rotation, greatly reduce turning radius, improve the flexibility ratio of vehicle driving.Since each deflecting roller surrounds same circle
Heart rotation guarantees wheel rolling movement on the ground, sliding not opposite with ground.
Since the rotation process of active steering wheel is continuously, certain time interval can be preset, when one is disconnected
Between detect the corner of an active steering wheel, and the corner that driven deflecting roller is calculated accordingly is done, until active steering wheel
Until stopping operating.
The above calculating process is calculated in real time according to the corner of active steering wheel, on the basis of above scheme
On, the present invention provides further prioritization scheme, is carrying out step S3, before calculating the corresponding corner of driven deflecting roller, executes
Step S5, detect whether that there are the angle collation tables between the corner of active steering wheel and the corner of driven deflecting roller；If so, then
It executes step S6, according to the corresponding relationship of angle collation table, extracts the corner of driven deflecting roller；And execute step S4, Xiang Suoshu
Driven deflecting roller applies diversion order, and two driven deflecting rollers is made to rotate identical corner in the opposite direction.
Angle collation table is calculated according to the geometrical relationship between active inscribed circle and driven inscribed circle, is to precalculate
Obtained corresponding relationship chooses the crank degree of several active steering wheels in advance, calculates the corner of active steering wheel selected
Corresponding each driven corresponding corner of deflecting roller under angle, calculating process is still according to active inscribed circle and driven inscribed circle
Correspondence geometrical relationship calculate.Angle collation table if it exists directly searches corresponding angle from table, does not need to turn every time
To all being calculated.The corner of active steering wheel can be found from table, and driven deflecting roller correspondingly executes angle provided in table
Degree, if can not find in table, can find out approximation by the calculating that rounds up；Or it is carried out using above-mentioned step S3 real-time
It calculates, these specific embodiments should all be by protection of the invention.
On the basis of above scheme, the present invention provides setting for two kinds of specific active steering wheels and driven deflecting roller herein
Set form:
The first situation:
Active steering wheel is the wheel of inside, and driven deflecting roller is the wheel in outside, inside referred herein be inscribed circle compared with
Small wheel, outside are the biggish wheels of inscribed circle, if vehicle turns left, the wheel in left side is the wheel of inside.
When active steering wheel is the wheel of inside, the calculation formula of driven deflecting roller are as follows:
Wherein: L1The usually said wheelspan of spacing namely automobile between inboard wheel and outboard wheels；L2 is two
The usually said wheelbase of spacing namely automobile between inboard wheel or two outboard wheels；α is outboard wheels corner；β is interior
Side wheel steering angle.
As shown in Fig. 2, between active inscribed circle and driven inscribed circle and wheel relationship schematic diagram；It is equivalent to vertical view side
To seeing, calculated using the figure.
ABCD is the rotating shaft present position of four wheels, and ABCD forms a rectangle, AB=CD=L2, AD=BC=L1,
O point is the center of circle, and OE is symmetry axis, and OA, OB, OC, OD are respectively the axis of rolling direction of four wheels, and DI, CI are respectively two
The direction of travel of a inboard wheel, AE, BE are respectively the direction of travel of two outboard wheels；α is outboard wheels corner, and β is interior
Side wheel steering angle.
According to triangle relation:
Second situation:
Active steering wheel is the wheel in outside, and driven deflecting roller is the wheel of inside, inside referred herein be inscribed circle compared with
Small wheel, outside are the biggish wheels of inscribed circle, if vehicle turns left, the wheel in left side is the wheel of inside.
When active steering wheel is the wheel in outside, the corner of driven deflecting roller calculates as follows:
Wherein: L1The usually said wheelspan of spacing namely automobile between inboard wheel and outboard wheels；L2 is two
The usually said wheelbase of spacing namely automobile between inboard wheel or two outboard wheels；α is outboard wheels corner；β is interior
Side wheel steering angle.
According to triangle relation:
Both the above situation is set for different wheels, and active steering wheel can be inboard wheel, can also be outboard wheels,
Different formula is selected to calculate for different setting situations.
Further, according to the spacing of the corner of active steering wheel, the corner of driven deflecting roller, two active steering wheels
L2, active steering wheel and driven deflecting roller spacing L1, obtain the perimeter of active inscribed circle and the perimeter of driven inscribed circle；With
For Fig. 2, if inboard wheel is active steering wheel, OD=r, then the radius r of active inscribed circle:
OA=R, then the radius R of driven inscribed circle:
The perimeter ratio for calculating active inscribed circle and driven inscribed circle, makes the revolving speed between active steering wheel and driven deflecting roller
Ratio is equal to perimeter ratio.The radius of the perimeter of active inscribed circle and driven inscribed circle ratio namely active inscribed circle and driven inscribed circle
Than the travel speed of wheel is equal with the ratio between perimeter.
Preferably, for reasonably regulation speed, the wheel in outside receives the control signal of gas pedal in the present invention, outside
Side wheel either active steering wheel or driven deflecting roller, speed are consistent with the control signal of gas pedal；In addition
On the basis of the wheel of side, the vehicle wheel rotational speed of inside is reduced than equal proportion according to perimeter, is increased not on the basis of inboard wheel outer
The revolving speed of side wheel guarantees that vehicle is run with reasonable speed, it is ensured that driving safety.
The present invention also provides a kind of wheel steering control systems, including inscribed circle to obtain module, corner computing module, corner
The modules such as output module, control memory module；Inscribed circle, which obtains module, can obtain the active inscribed circle of two active steering wheels,
Angle detector is set on active steering wheel, and angle detector obtains module to inscribed circle and sends detection signal；Two actives
Deflecting roller is positioned at ipsilateral, rotation equal angular in the opposite direction deflecting roller, and two active steering wheels surround same circle
Heart rotation, inscribed circle obtain module and obtain active inscribed circle according to the corner of active steering wheel；Obtain inscribe after active inscribed circle
Circle obtains module using the center of circle of active inscribed circle as the center of circle, obtains the driven inscribed circle of two driven deflecting rollers.
The spacing L of two active steering wheels2For the so-called wheelbase of orthodox car, between active steering wheel and driven deflecting roller
Away from L1For the so-called wheelspan of orthodox car, the wheelbase and wheelspan of vehicle are changeless value, can pre-enter corner and calculate mould
Block；The corner of active steering wheel can be obtained by detection；Corner computing module is turned using the corner of active steering wheel, two actives
To the spacing L of wheel2And the spacing L of active steering wheel and driven deflecting roller1, according to pair of active inscribed circle and driven inscribed circle
Geometrical relationship is answered to calculate the driven corresponding corner of deflecting roller.
Corner output module is used to apply diversion order to driven deflecting roller, makes two driven deflecting rollers in the opposite direction
Rotate identical corner；Driven deflecting roller rotates corresponding angle by the calculating of corner computing module, two driven deflecting rollers and
Two active steering wheels are rolled around the identical center of circle.
Control memory module is used to store the angle collation between the corner of active steering wheel and the corner of driven deflecting roller
Table；Angle collation table is calculated according to the geometrical relationship between active inscribed circle and driven inscribed circle, once corner calculates mould
Block calculates the corner corresponding relationship of one group of active steering wheel and driven deflecting roller, which is input to control memory module,
It compares memory module and updates angle collation table, expand the data volume of the angle table of comparisons.Active steering is extracted from angle collation table
Corresponding angular relationship between wheel and driven deflecting roller is extracted corresponding driven steering according to the corner of active steering wheel and is rotated
Angle can be calculated without corner computing module, not need to carry out complicated calculating every time.
The system can realize the technical effect that above-mentioned wheel steering control method reaches.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, this hair
It is bright to be not intended to be limited to the embodiments shown herein, and be to fit to and the principles and novel features disclosed herein phase
Consistent widest scope.
Claims (7)
1. a kind of wheel steering control method characterized by comprising
Obtain the active inscribed circle of two active steering wheels, wherein two active steering wheels be positioned at it is ipsilateral, by opposite
Direction rotation equal angular deflecting roller；
Using the center of circle of the active inscribed circle as the center of circle, the driven inscribed circle of two driven deflecting rollers is obtained；
Utilize the corner of the active steering wheel, the spacing L of two active steering wheels2And the active steering wheel and institute
State the spacing L of driven deflecting roller1, calculated according to the correspondence geometrical relationship of active inscribed circle and the driven inscribed circle described driven
The corresponding corner of deflecting roller；
Apply diversion order to the driven deflecting roller, two driven deflecting rollers is made to rotate identical turn in the opposite direction
Angle.
2. wheel steering control method according to claim 1, which is characterized in that further include: it is described from turn calculating
To before taking turns corresponding corner, detect whether that there are between the corner of the active steering wheel and the corner of the driven deflecting roller
Angle collation table；If so, then extracting the corner of the driven deflecting roller according to the corresponding relationship of the angle collation table；To
The driven deflecting roller applies diversion order, and two driven deflecting rollers is made to rotate identical corner in the opposite direction；
The angle collation table is calculated according to the geometrical relationship between the active inscribed circle and the driven inscribed circle.
3. wheel steering control method according to claim 2, which is characterized in that the active steering wheel is the vehicle of inside
When wheel, the corner of the driven deflecting roller calculates as follows:
Wherein: L1For the spacing between inside vehicle and outboard wheels；L2Between two inside vehicles or two outside vehicles
Spacing；α is outboard wheels corner；β is inboard wheel corner.
4. wheel steering control method according to claim 2, which is characterized in that the active steering wheel is the vehicle in outside
When wheel, the corner of the driven deflecting roller calculates as follows:
Wherein: L1Spacing between inboard wheel and outboard wheels；L2Between two inboard wheels or two outboard wheels
Spacing；α is outboard wheels corner；β is inboard wheel corner.
5. wheel steering control method according to any one of claims 1 to 4, which is characterized in that turned according to the active
To the corner of wheel, the corner of driven deflecting roller, two active steering wheels spacing L2, the active steering wheel and it is described from
The spacing L of dynamic deflecting roller1, the perimeter of the active inscribed circle and the perimeter of the driven inscribed circle are obtained, the master is calculated
The perimeter ratio of dynamic inscribed circle and the driven inscribed circle, makes the rotating ratio between the active steering wheel and the driven deflecting roller
Example is equal to the perimeter ratio.
6. wheel steering control method according to claim 5, which is characterized in that gas pedal is to the programmable controller
Speed controling signal is sent, the programmable controller is on the basis of the wheel in outside, according to the perimeter than in equal proportion reduction
The vehicle wheel rotational speed of side.
7. a kind of wheel steering control system characterized by comprising
Inscribed circle obtains module, can obtain the active inscribed circle of two active steering wheels, wherein two active steering wheels
For positioned at ipsilateral, rotation equal angular in the opposite direction deflecting roller；It can be circle with the center of circle of the active inscribed circle
The heart obtains the driven inscribed circle of two driven deflecting rollers；
Corner computing module utilizes the corner of the active steering wheel, the spacing L of two active steering wheels2And it is described
The spacing L of active steering wheel and the driven deflecting roller1, closed according to the correspondence geometry of active inscribed circle and the driven inscribed circle
System calculates the driven corresponding corner of deflecting roller；
Corner output module makes two driven deflecting rollers by opposite for applying diversion order to the driven deflecting roller
Direction rotate identical corner；
Memory module is compareed, for storing the angle between the corner of the active steering wheel and the corner of the driven deflecting roller
The table of comparisons；The angle collation table is calculated according to the geometrical relationship between the active inscribed circle and the driven inscribed circle
It arrives.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115014693A (en) * | 2022-08-08 | 2022-09-06 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
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| CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
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| CN109367617A (en) * | 2018-10-10 | 2019-02-22 | 中国科学院合肥物质科学研究院 | A kind of 4 wheel driven robot self-steering method based on extension Ackermam algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115014693A (en) * | 2022-08-08 | 2022-09-06 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
| CN115014693B (en) * | 2022-08-08 | 2022-11-01 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
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