CN110466599A - The steering-by-wire mechanism and its control method that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate - Google Patents
The steering-by-wire mechanism and its control method that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate Download PDFInfo
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- CN110466599A CN110466599A CN201910909356.XA CN201910909356A CN110466599A CN 110466599 A CN110466599 A CN 110466599A CN 201910909356 A CN201910909356 A CN 201910909356A CN 110466599 A CN110466599 A CN 110466599A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 239000000725 suspension Substances 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 230000009467 reduction Effects 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/10—Steering gears mechanical of worm type with worm engaging in sector or roller gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses the steering-by-wire mechanisms that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate, comprising: motor cabinet；Steering motor is fixed on the motor cabinet, and the steering motor has power output shaft；First bevel gear is coaxially fixed on the end of the power output shaft；Second bevel gear, with the first bevel gear engaged transmission；Worm screw is fixedly and coaxially connected in described second bevel gear one end；Worm gear, with the worm screw engaged transmission；Electric Motor Wheel is coaxially arranged with motor shaft；Knuckle is fixedly mounted on the motor shaft of Electric Motor Wheel；Wherein, one end of the worm gear shaft of the worm gear passes through the motor cabinet, and is fixedly connected with the knuckle；Lower cross arm, one end are connect with vehicle body, and the other end and the motor cabinet are hinged.Meanwhile a kind of control method of the steering-by-wire mechanism integrated the present invention also provides steering mechanism for electric wheel drive vehicle and suspension.
Description
Technical field
The invention belongs to automobile steering systems and art of suspension systems field, in particular to a kind of to be used for In-wheel-motor driving vapour
The steering-by-wire mechanism and its control method that the steering mechanism of vehicle and suspension integrate.
Background technique
Automobile steering system is a series of devices for changing or keeping running car or reverse direction.Automotive steering
The function of system is exactly the driving direction according to the wish control automobile of driver.Automobile steering system to the driving safety of automobile extremely
Close important, therefore automobile steering system is the system that automotive safety must be paid attention to.
Automobile steering system is divided into two major classes at this stage: mechanical steering system and power steering system.
Mechanical steering system is using the physical strength of driver as steerable energy, wherein all force transmission elements are all mechanical.It is mechanical
Steering system is made of steering control mechanism, diverter and steering gear three parts.Power steering system is that dual-purpose is driven
The person's of sailing physical strength and engine power are the steering system of steerable energy.Under normal circumstances, energy needed for motor turning, only one
Fraction is provided by driver, and most of is to be provided by engine by power steering gear.But in power steering gear
When failure, motor turning task generally can also should be independently undertaken by driver.Therefore, power steering system is in manual steering system
On the basis of add a set of power steering gear and formed.But the continuous exploration due to people to unmanned technology, it helps
Power formula steering structure is not able to satisfy the needs of the following intelligent vehicle technology development.
Therefore, wire-controlled steering system comes into being.Automobile steer-by-wire system eliminates between steering wheel and deflecting roller
Mechanical connection is realized by fax turn to completely, gets rid of the various limitations of conventional steering system, not only can free design vehicle
The force transfering characteristic of steering, and the angle transmission characteristic that can be turned to design vehicle, bring huge to the design of motor turning characteristic
Big space.
Summary of the invention
An object of the present invention is to provide a kind of line that the steering mechanism for electric wheel drive vehicle integrates with suspension
Steering mechanism is controlled, is driven using worm and gear and bevel gear two-stage, double reduction improves reduction ratio, and steering moment substantially mentions
It is high；Bevel Gear Transmission changes the direction of transfer of power simultaneously, places motor vertically, and determinants space reduces, so as to
It avoids that mechanical interference occurs when the limit turns to.
The second object of the present invention is to provide a kind of line that the steering mechanism for electric wheel drive vehicle integrates with suspension
The control method for controlling steering mechanism according to the revolving speed of automobile driving speed v and steering wheel angle θ control steering motor, and then is adjusted
Whole wheel steering speed, to improve the safety during vehicle turning.
Technical solution provided by the invention are as follows:
The steering-by-wire mechanism that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate, comprising:
Motor cabinet；
Steering motor is fixed on the motor cabinet, and the steering motor has power output shaft；
First bevel gear is coaxially fixed on the end of the power output shaft；
Second bevel gear, with the first bevel gear engaged transmission；
Worm screw is fixedly and coaxially connected in the second bevel gear side；
Worm gear, with the worm screw engaged transmission；
Electric Motor Wheel is coaxially arranged with motor shaft；
Knuckle is fixedly mounted on the motor shaft；
Wherein, one end of the worm gear shaft of the worm gear passes through the motor cabinet, and is fixedly connected with the knuckle；
Lower cross arm, one end are connect with vehicle body, and the other end and the motor cabinet are hinged.
Preferably, the steering-by-wire mechanism that the steering mechanism for electric wheel drive vehicle integrates with suspension,
Further include:
Spring damper, one end are fixedly connected with the knuckle, and the other end is fixedly connected with vehicle body.
Preferably, the first connecting hole is offered on the knuckle, the motor shaft and the first connecting hole key connect
It connects.
Preferably, the second connecting hole is offered on the knuckle, one end of the worm gear shaft is connect with described second
Hole key connection.
Preferably, coaxially there are two bearing, the worm gear shaft matching supports for embedded setting for the two sides of the motor cabinet
In described two bearings.
Preferably, the steering-by-wire mechanism that the steering mechanism for electric wheel drive vehicle integrates with suspension,
Further include:
Reduction box casing is fixedly mounted on the motor cabinet；
Wherein, the first bevel gear, the second bevel gear, the worm gear and worm screw are arranged at the deceleration box shell
In body, it is symmetrically arranged bearing on two end caps in the reduction box casing, for making the worm screw and described second
The gear shaft of bevel gear is rotatably supported on the reduction box casing.
Preferably, one end of the motor cabinet and the lower cross arm are hinged by pin shaft, and in the lower cross arm
It is provided with bearing, is used to support the pin shaft.
A kind of control method for the steering-by-wire mechanism that steering mechanism for electric wheel drive vehicle and suspension integrate, makes
The steering-by-wire mechanism integrated with the steering mechanism for electric wheel drive vehicle with suspension, includes the following steps:
Step 1: acquiring automobile driving speed v and steering wheel angle θ during automobile turning；
Step 2: according to the revolving speed of the automobile driving speed v and steering wheel angle θ control steering motor are as follows:
In formula, ξ is correction coefficient, n0For the reference rotation speed of steering motor, θ0For benchmark steering wheel angle；v0For benchmark vapour
Vehicle travel speed, I1Transmission ratio between first bevel gear and second bevel gear, I2Transmission ratio between worm gear and worm screw.
Preferably, the steering-by-wire mechanism that the steering mechanism for electric wheel drive vehicle integrates with suspension
Control method further includes determining correction coefficient according to automobile driving speed；Wherein:
As v≤30Km/h, ξ=0.95~0.99；
As v > 30Km/h,
In formula, L is the length of wagon of automobile, LminFor the length of wagon minimum value of setting, LmaxFor the length of wagon of setting
Maximum value, m are complete vehicle quality, m0For benchmark complete vehicle quality.
The beneficial effects of the present invention are:
(1) system may be implemented by Worm Wheel System using worm and gear and bevel gear double reduction mechanism
Reverse self-locking, i.e. worm screw can drive worm gear to rotate, and worm gear cannot drive worm screw in turn, and in vehicle power-off, wheel can be with
Locking does not rotate；Steering motor can be placed vertically, avoid space interference, increase simultaneously by the characteristics of using Bevel Gear Transmission
Reduction ratio.
(2) level of integrated system is high, and driving, steering, braking system are integrated in a module, and structure is simple；For zero
Its added value of product can be improved in part manufacturer.
(3) wire-controlled steering system eliminates the mechanical connection between each component, is connected all parts using electric signal,
Keep automobile more intelligent.
(4) provided by the present invention for integrated steering-by-wire mechanism of the steering mechanism of electric wheel drive vehicle and suspension
Control method, can be according to the revolving speed of automobile driving speed v and steering wheel angle θ control steering motor, and then adjusts wheel and turn
To speed, to improve the safety during vehicle turning.
Detailed description of the invention
Fig. 1 is the steering mechanism of the present invention for electric wheel drive vehicle and the steering-by-wire mechanism that suspension integrates
Schematic diagram.
Fig. 2 is the deceleration structural scheme of mechanism inside reduction gearbox of the present invention.
Fig. 3 is the structural schematic diagram of knuckle of the present invention.
Fig. 4 is the structural schematic diagram of motor cabinet of the present invention.
Fig. 5 is the structural schematic diagram of lower cross arm of the present invention.
Fig. 6 is the connected mode schematic diagram of motor cabinet of the present invention and lower cross arm.
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 Figs 1-4, it is integrated the present invention provides a kind of steering mechanism for electric wheel drive vehicle and suspension
Steering-by-wire mechanism specifically includes that Electric Motor Wheel 100, knuckle 110, motor cabinet 120, steering motor 130, first bevel gear
140, second bevel gear 150, worm screw 160, worm gear 170 and lower cross arm 180.
Electric Motor Wheel 100 is made of wheel and hub motor, and the motor shaft of hub motor is stator, and electric machine casing is rotor,
Hub motor shell drives vehicle wheel rotation, and the motor shaft and the wheel are coaxially disposed；110 center of knuckle has connecting hole
111, the motor shaft is arranged in connecting hole 111；The motor shaft is cooperated by flat key and connecting hole 111, is formed a fixed connection,
And there is screw thread in motor the tip of the axis, fastened and limited by nut, prevent from occurring between motor shaft and knuckle 110 axial
It is mobile；Motor cabinet 120 is arranged on knuckle 110, and motor cabinet 120 is relatively rotatable to each other with knuckle 110.Motor cabinet
Reduction gearbox is provided on 120, the reduction gearbox is internally provided with bevel gear and worm and gear double reduction mechanism；Steering motor
130 are vertically provided on reduction box casing 190, and the lower end fixing assembling of the output shaft of steering motor 130 has first bevel gear
140；140 engaged transmission of second bevel gear 150 and first bevel gear；Worm screw 160 is fixedly and coaxially connected in second bevel gear 150 1
End；160 engaged transmission of worm gear 170 and worm screw；171 lower end of worm gear shaft of worm gear 170 passes through motor cabinet 120, and and knuckle
110 are fixedly connected；One end of lower cross arm 180 is connect with vehicle body, and the other end and motor cabinet 120 are hinged.Wherein, steering motor 130
With power-off band brake apparatus.
There are two shock absorber attachment hole 112a, 112b for the upper end tool of knuckle 110, and two connecting holes 112a and 112b are along bullet
The axial of spring damper 210 is laid；210 lower end of spring damper is fixedly installed knuckle connecting plate 211, spring damper
210 fill 112a and 112b assembly connection, spring damper by the first connecting hole of knuckle connecting plate 211 and knuckle 110
210 upper ends are connected firmly with vehicle body.Meanwhile setting in the right side opening of knuckle 110 there are two brake caliper connecting hole 113a, 113b, it makes
Moving calipers 221 are fixed on the side of the knuckle 110 by two brake caliper connecting holes 113a, 113b, and brake disc 222 is logical
It crosses bolt to be fixed on the hub motor shell of Electric Motor Wheel 100, rotates and rotate with Electric Motor Wheel 100.
In the present embodiment, in the lower end of knuckle 110, connection is offered along the direction of the axis of spring damper 210
Hole 114, the worm gear shaft 171 and connecting hole 114 of worm gear 170 are cooperated by flat key, are formed a fixed connection；Motor cabinet 120 with even
It connects and offers a through-hole 121 at the corresponding position in hole 114, upper and lower surface and the through-hole 121 of motor cabinet 120 are coaxially set
There are two groove 122, it is separately installed with worm gear shaft cone bearing 120a in two grooves 122, worm gear shaft 171 is worn from through-hole 121
It crosses, end extends to 114 lower section of connecting hole；The two sides of worm gear shaft 171 are respectively supported at the worm gear shaft cone bearing of two grooves 122
In 120a, there is screw thread in 171 end of worm gear shaft, is fastened and is limited by nut；To realize the phase of knuckle 110 and motor cabinet 120
To rotation.It is respectively arranged with bearing at the upper and lower surface of motor cabinet 120, can be effectively reduced and 171 sliding friction of worm gear shaft.
Inside reduction gearbox, it is fixedly installed with the worm shaft axis of cone respectively on the inside of the end face of the left and right of reduction box casing 190 two
It holds, second bevel gear 150 is mounted on worm shaft 161 (the i.e. gear of worm shaft 161 and second bevel gear 160 by flat key
Axis), the both ends left and right ends of worm shaft 161 are respectively supported in the worm shaft cone bearing 190a.Bearing (ball) cover, which is mounted on, to be subtracted
On the end face of fast tank shell 190, the limit, dust-proof of bevel gear mechanism and worm screw is realized.
As seen in figs. 5-6, lower cross arm 180 is dies, by two symmetrical support arms 181,182 and connection two
The crossbeam 183 of support arm 181 and 182 forms, wherein crossbeam 183 is vertical with support arm 181,182.
One end of support arm 181 and 182 offers through-hole 181a, 182a for connecting motor cabinet 120 respectively, and in support arm
181 and the inside of support arm 182 be coaxially disposed fluted 180a with through-hole 181a, 182a respectively；Pacify respectively in two groove 180a
Equipped with cone bearing 180b；120 one end of motor cabinet has and the matched through-hole 123 of through-hole 181a, 182a, through-hole 123 and through-hole
181a, 182a coaxial arrangement, pin shaft 120b runs through 181a, through-hole 123 and through-hole 182a, and the two sides of pin shaft 120b are propped up simultaneously
Support makes to form hinged relationship between motor cabinet 120 and lower cross arm 180 in two cone bearing 180b, one end tool of pin shaft 120b
There is head, is resisted against 181 outside of support arm, the other end (end) extends to the outside of support arm 182, and the end pin shaft 120b has
There is screw thread, is limited and fixed by nut.The other end of support arm 181 and 182 and vehicle body are hinged.
The working principle for the steering-by-wire mechanism that the steering mechanism for electric wheel drive vehicle and suspension integrate are as follows:
When driver intention makes vehicle keep a fixed-direction when driving, steering motor 130 does not work, since worm and gear has certainly
Characteristic is locked, i.e. worm gear 170 cannot drive worm screw 160 to rotate, and vehicle will not change original driving direction at this time.Work as driver intention
When changing vehicle heading, steering motor 130 works, and power passes to snail through first bevel gear 140, second bevel gear 150
Bar 160, worm screw 160 and second bevel gear 150 rotate synchronously.Worm screw 160 drives worm gear 170 to rotate, and the lower part of worm gear shaft 171 is logical
It crosses flat key and transmits the force to the connecting hole 114 of knuckle 110, so that knuckle 110 be driven to rotate.Wheel and brake portion are fixed
It is mounted on knuckle 110, it is thereby achieved that wheel is around the public of the connecting hole 114 of spring damper 210 and knuckle 110
Axis rotation.On uneven road surface when driving, spring damper 210 connect the pin shaft 120b of motor cabinet 120 and lower cross arm 180
Wheel can be made to move up and down.
Meanwhile the present invention also provides the line traffic controls that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate to turn
To the control method of mechanism, include the following steps:
Step 1: acquiring automobile driving speed v during automobile turning by velocity sensor and being turned by steering wheel
Angle transducer acquires steering wheel angle θ；And collected information is transmitted to the ECU of automobile；
Step 2: revolving speed of the ECU of automobile according to the automobile driving speed v and steering wheel angle θ control steering motor
Are as follows:
In formula, ξ is correction coefficient, n0For the reference rotation speed of steering motor, θ0For benchmark steering wheel angle, unit: degree；v0
For benchmark automobile driving speed, unit: Km/h, I1Transmission ratio between first bevel gear and second bevel gear, I2For worm gear and
Transmission ratio between worm screw.
Wherein, n0=2000~2500r/min, θ0=360~400 degree, v0=40~50Km/h.
In another embodiment, further includes: according to automobile driving speed, determine correction coefficient；Wherein:
As v≤30Km/h, ξ=0.95~0.99；
As v > 30Km/h,
In formula, L is the length of wagon of automobile, unit: m；LminFor the length of wagon minimum value of setting, unit: m；LmaxFor
The length of wagon maximum value of setting, unit: m；M is complete vehicle quality, unit: Kg；m0For benchmark complete vehicle quality, unit: Kg.Vehicle
Quality m can be detected by installing weight sensor on automobile, and be transmitted to the ECU of automobile, and other parameters can be set
In the memory module for having previously been stored in automobile EUC afterwards.
Wherein, Lmin=3~3.5m；Lmax=6~6.5m, m0=1500~1800kg.
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 (9)
1. the steering-by-wire mechanism that a kind of steering mechanism for electric wheel drive vehicle and suspension integrate, which is characterized in that packet
It includes:
Motor cabinet；
Steering motor is fixed on the motor cabinet, and the steering motor has power output shaft；
First bevel gear is coaxially fixed on the end of the power output shaft；
Second bevel gear, with the first bevel gear engaged transmission；
Worm screw is fixedly and coaxially connected in the second bevel gear side；
Worm gear, with the worm screw engaged transmission；
Electric Motor Wheel is coaxially arranged with motor shaft；
Knuckle is fixedly mounted on the motor shaft；
Wherein, one end of the worm gear shaft of the worm gear passes through the motor cabinet, and is fixedly connected with the knuckle；
Lower cross arm, one end are connect with vehicle body, and the other end and the motor cabinet are hinged.
2. the steering-by-wire machine that the steering mechanism according to claim 1 for electric wheel drive vehicle and suspension integrate
Structure, which is characterized in that further include:
Spring damper, one end are fixedly connected with the knuckle, and the other end is fixedly connected with vehicle body.
3. the steering-by-wire machine that the steering mechanism according to claim 2 for electric wheel drive vehicle and suspension integrate
Structure, which is characterized in that the first connecting hole is offered on the knuckle, the motor shaft and first connecting hole are keyed.
4. the steering-by-wire machine that the steering mechanism according to claim 3 for electric wheel drive vehicle and suspension integrate
Structure, which is characterized in that the second connecting hole, one end of the worm gear shaft and the second connecting hole key are offered on the knuckle
Connection.
5. the steering-by-wire that the steering mechanism according to claim 3 or 4 for electric wheel drive vehicle and suspension integrate
Mechanism, which is characterized in that coaxially there are two bearings, the worm gear shaft matching to be supported on for embedded setting for the two sides of the motor cabinet
In described two bearings.
6. the steering-by-wire machine that the steering mechanism according to claim 5 for electric wheel drive vehicle and suspension integrate
Structure, which is characterized in that further include:
Reduction box casing is fixedly mounted on the motor cabinet；
Wherein, the first bevel gear, the second bevel gear, the worm gear and worm screw are arranged at the reduction box casing
In, it is symmetrically arranged bearing on two end caps in the reduction box casing, for making the worm screw and second cone
The gear shaft of gear is rotatably supported on the reduction box casing.
7. the steering-by-wire machine that the steering mechanism according to claim 6 for electric wheel drive vehicle and suspension integrate
Structure, which is characterized in that one end of the motor cabinet is hinged by pin shaft with the lower cross arm, and is arranged in the lower cross arm
There is bearing, is used to support the pin shaft.
8. a kind of control method for the steering-by-wire mechanism that steering mechanism for electric wheel drive vehicle and suspension integrate, uses
The steering-by-wire machine that the steering mechanism for electric wheel drive vehicle as described in claim 1-7 any one integrates with suspension
Structure, which comprises the steps of:
Step 1: acquiring automobile driving speed v and steering wheel angle θ during automobile turning；
Step 2: according to the revolving speed of the automobile driving speed v and steering wheel angle θ control steering motor are as follows:
In formula, ξ is correction coefficient, n0For the reference rotation speed of steering motor, θ0For benchmark steering wheel angle；v0For benchmark garage
Sail speed, I1Transmission ratio between first bevel gear and second bevel gear, I2Transmission ratio between worm gear and worm screw.
9. the steering-by-wire mechanism that the steering mechanism according to claim 8 for electric wheel drive vehicle and suspension integrate
Control method, which is characterized in that further include that correction coefficient is determined according to automobile driving speed；Wherein:
As v≤30Km/h, ξ=0.95~0.99；
As v > 30Km/h,
In formula, L is the length of wagon of automobile, LminFor the length of wagon minimum value of setting, LmaxIt is maximum for the length of wagon of setting
Value, m is complete vehicle quality, m0For benchmark complete vehicle quality.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910909356.XA CN110466599B (en) | 2019-09-25 | 2019-09-25 | Steering mechanism and suspension integrated steering mechanism for electric wheel drive automobile and control method thereof |
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| CN201910909356.XA CN110466599B (en) | 2019-09-25 | 2019-09-25 | Steering mechanism and suspension integrated steering mechanism for electric wheel drive automobile and control method thereof |
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Cited By (2)
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|---|---|---|---|---|
| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN116022231A (en) * | 2022-12-22 | 2023-04-28 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
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| 王军年;王庆年;宋传学;靳立强;胡长健;: "四轮驱动电动汽车差动助力转向系统联合仿真与试验", 农业机械学报, no. 06, pages 24 - 26 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179605A (en) * | 2021-12-29 | 2022-03-15 | 吉林大学 | Motor redundancy multifunctional integrated wheel module and control method thereof |
| CN114179605B (en) * | 2021-12-29 | 2024-03-01 | 吉林大学 | Multifunctional integrated wheel module with motor redundancy and control method thereof |
| CN116022231A (en) * | 2022-12-22 | 2023-04-28 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
| CN116022231B (en) * | 2022-12-22 | 2024-06-07 | 吉林大学 | Drive-by-wire steering mechanism applied to slide plate type chassis and control method thereof |
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