CN110654448A - Hub motor distributed type electrically-driven automobile multifunctional steering mechanism and method thereof - Google Patents
Hub motor distributed type electrically-driven automobile multifunctional steering mechanism and method thereof Download PDFInfo
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- CN110654448A CN110654448A CN201910911267.9A CN201910911267A CN110654448A CN 110654448 A CN110654448 A CN 110654448A CN 201910911267 A CN201910911267 A CN 201910911267A CN 110654448 A CN110654448 A CN 110654448A
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- rear wheel
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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
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention discloses a hub motor distributed type electric drive automobile multifunctional steering mechanism and a method thereof, wherein the steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth vehicle wheel steering angle sensors, a running mode switching module and a control module; the control module controls the front steering module and the rear steering module to work according to data of the vehicle speed sensor, the first wheel rotation angle sensor, the second wheel rotation angle sensor and the driving mode switching module, so that the vehicle can work in five driving modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse driving mode, high speed driving rear wheel steering mode.
Description
Technical Field
The invention relates to the technical field of in-wheel motor distributed electric drive automobiles, in particular to a multifunctional steering mechanism of an in-wheel motor distributed electric drive automobile and a method thereof.
Background
Due to the increasing pressure of energy and environmental protection, the development of new energy automobiles has become a research hotspot of automobile industry of various countries, and the hub motor distributed electric drive automobile is more concerned. The existing hub motor distributed electric drive automobile multifunctional steering mechanism has single function, generally adopts a two-wheel steering mode or a four-wheel steering mode, and cannot be switched in a multi-mode manner, and the steering angle of a front wheel of the traditional automobile steering mechanism is limited to be between-35 degrees and +35 degrees due to a steering tie rod.
Disclosure of Invention
The invention aims to solve the technical problem of providing a hub motor distributed type electric drive automobile multifunctional steering mechanism and a method thereof, which can realize the steering of two front wheels and four wheels in longitudinal running, can also realize fixed-point zero-radius steering and transverse running, and meet the requirements of flexible steering and simple operation when an automobile turns around or parks and enters a garage in a narrow range.
The invention adopts the following technical scheme for solving the technical problems:
the wheel hub motor distributed type electrically driven automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel steering angle sensors, a running mode switching module and a control module;
the front steering module comprises a first wheel hub motor, a second wheel hub motor, a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving bevel gear, a left bevel gear, a right bevel gear, a first front straight gear, a second front straight gear, a first meshing gear ring, a second meshing gear ring, a first front steering gear, a second front steering gear, a first front steering rack, a second front steering rack, a front left conduction unit and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint; the other end of the steering shaft is coaxially and fixedly connected with a rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged on the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and rotating shafts of the left bevel gear and the right bevel gear are perpendicular to the steering shaft;
the first front steering rack and the second front steering rack are respectively arranged on the frame at the left side and the right side of the driving bevel gear and are parallel to the steering shaft;
the first front straight gear is meshed with the second front straight gear, and a rotating shaft of the first front straight gear is connected with a rotating shaft of the first front steering gear through a first meshed gear ring; one end of the second front straight gear rotating shaft is connected with the rotating shaft of the first front steering gear through the second meshing gear ring, and the other end of the second front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the left bevel gear; the first front steering gear and the second front steering gear are meshed with the first front steering rack, and the first front steering gear and the second front steering gear are not meshed with each other;
the third front straight gear is meshed with the fourth front straight gear, and a rotating shaft of the third front straight gear is connected with a rotating shaft of the third front steering gear through a third meshed gear ring; one end of the fourth front straight gear rotating shaft is connected with the rotating shaft of the fourth front steering gear through the fourth meshing gear ring, and the other end of the fourth front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the right bevel gear; the third front steering gear and the fourth front steering gear are meshed with the second front steering rack, and the third front steering gear and the fourth front steering gear are not meshed with each other;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile;
the rear steering module comprises third to fourth hub motors, first to second steering motors, first to second rear steering gears, first to second rear steering racks, a rear left conduction unit and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first rear steering rack and the second rear steering rack are respectively arranged on the frames at the inner sides of the left rear wheel and the right rear wheel of the automobile and are both vertical to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and output shafts of the first steering motor and the second steering motor are respectively and coaxially and fixedly connected with rotating shafts of the first rear steering gear and the second rear steering gear;
the first rear steering gear and the second rear steering gear are respectively meshed with the first rear steering rack and the second rear steering rack; the output ends of the first rear steering rack and the second rear steering rack are respectively connected with the left rear wheel and the right rear wheel of the automobile through a rear left conduction unit and a rear right conduction unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque of the first steering motor and the steering torque of the second steering motor to a left rear wheel and a right rear wheel of the automobile;
the vehicle speed sensor is used for acquiring the vehicle speed of the vehicle and transmitting the vehicle speed to the control module;
the first wheel turning angle sensor, the second wheel turning angle sensor, the third wheel turning angle sensor, the fourth wheel;
the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises five modes: a two-front-wheel steering mode, a four-wheel steering mode, a fixed-point zero-radius steering mode, a transverse driving mode and a high-speed driving rear-wheel steering mode;
the control module is electrically connected with the vehicle speed sensor, the first wheel rotation angle sensor, the second wheel rotation angle sensor, the first meshing gear ring, the second meshing gear ring, the first hub motor, the second hub motor, the fourth hub motor, the driving mode switching module, the first steering motor, the second steering motor, the first meshing gear ring, the second meshing gear ring, the first hub motor, the second hub motor and the driving mode switching module respectively, and is used for controlling the first steering motor, the second steering motor, the first meshing gear ring, the fourth meshing gear ring and the first hub motor, the second hub motor and the fourth hub motor to work according to data of the vehicle speed sensor, the first.
As a further optimization scheme of the hub motor distributed electric drive automobile multifunctional steering mechanism, the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit respectively comprise a steering tie rod, a steering knuckle and a control arm, wherein one end of the control arm is connected with a frame through a ball pin, and the other end of the control arm is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output ends of the first front steering rack, the second front steering rack, the first rear steering rack and the second rear steering rack.
The invention also discloses a two-front-wheel steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step A.1), a driver selects two front wheel steering modes through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively.
The invention also discloses a four-wheel steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
b.1), the driver selects a four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step B.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively to complete the steering of the two front wheels;
step B.4), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
step B.5), the module controls the vehicle speed to be compared with a preset first speed threshold value;
step B.5.1), when the vehicle speed is less than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the steering directions of the left rear wheel and the right rear wheel are opposite to the steering directions of the left front wheel and the right front wheel, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset first proportional threshold;
and B.5.2), when the vehicle speed is greater than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel, the right rear wheel and the left front wheel and the right front wheel have the same steering direction, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset second proportion threshold.
The invention also discloses a fixed point zero radius steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step C.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step C.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the third front steering gear;
step C.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
step C.4), a driver controls the left front wheel and the right front wheel to rotate through the steering wheel, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and C.5), the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, so that the rotating angles of the left rear wheel and the right rear wheel of the automobile are arctan (L/d).
The invention also discloses a transverse running method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step D.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step D.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
d.4), controlling the left front wheel and the right front wheel of the automobile to rotate by a driver through a steering wheel, so that the rotation angle of the left front wheel and the right front wheel of the automobile is 90 degrees;
and D.5), the control module receives signals of a front wheel steering angle sensor, the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, the first rear steering gear and the second rear steering gear are respectively engaged with the first rear steering rack and the second rear steering rack to move and are transmitted to the left rear wheel and the right rear wheel through the rear left transmission unit and the rear right transmission unit, and the rotating angles of the left rear wheel and the right rear wheel of the automobile are 90 degrees.
The invention also discloses a high-speed driving rear wheel steering method of the hub motor distributed type electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step E.1), the driver operates the vehicle to keep running in a straight line;
step E.2), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
e.3), the module controls to compare the vehicle speed with a preset second speed threshold;
e.4), when the vehicle speed is greater than a preset second speed threshold, the control module compares the rotation angles of the left rear wheel and the right rear wheel with a preset rear wheel toe-in minimum threshold and a preset rear wheel toe-in maximum threshold respectively;
step E.4.1), when the rotation angle of the left rear wheel and the right rear wheel is smaller than a preset rear wheel toe-in minimum threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered inwards until the rotation angle of the left rear wheel and the right rear wheel is larger than or equal to the preset rear wheel toe-in minimum threshold;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than the preset maximum threshold value of the front beam of the rear wheel, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered outwards until the rotation angles of the left rear wheel and the right rear wheel are smaller than or equal to the preset maximum threshold value of the front beam of the rear wheel.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the hub motor distributed electric drive automobile multifunctional steering mechanism can realize steering of two front wheels and four-wheel steering; the two front wheel steering includes: the two front wheels which normally run are conventionally steered, and the two rear wheels which run at high speed are steered; the two rear wheels running at high speed steer inwards to increase toe-in and enhance the stability of the vehicle running at high speed and the stability of the vehicle body during braking; the four-wheel steering mainly comprises that when the four-wheel steering is carried out at a low speed, the steering direction of the rear wheels is opposite to that of the front wheels; when the steering is carried out at high speed, the steering direction of the rear wheels is opposite to that of the front wheels; when the head is turned, the garage is accessed, and the parking space is tensed, the fixed-point zero-radius steering and the transverse driving are realized; the four-wheel steering technology can reduce the turning radius of the automobile, realize fixed-point zero-radius steering and transverse driving in a narrow space range, and enable the automobile body to be flexibly controlled.
Drawings
Fig. 1 is a schematic structural view of a front steering module in the present invention;
FIG. 2 is a schematic view of the structure of the front steering module of the present invention in which the respective conduction mechanisms are engaged;
FIG. 3 is a schematic structural view of a rear steering module of the present invention;
FIG. 4 is a schematic illustration of a two front wheel steering mode of the present invention;
FIG. 5 is a schematic diagram of a four-wheel steering mode of the present invention with vehicle speed less than a preset first speed threshold;
FIG. 6 is a schematic diagram of a four-wheel steering mode of the present invention with vehicle speed greater than a preset first speed threshold;
FIG. 7 is a schematic diagram of the fixed point zero radius steering mode of the present invention;
FIG. 8 is a schematic view of the lateral travel mode of the present invention;
FIG. 9 is a schematic diagram of the high speed two rear wheel steering mode of the present invention.
In the drawing, 1-a steering wheel, 2-a steering column, 3-a steering intermediate shaft, 4-a steering shaft, 5-a universal joint, 6-a drive bevel gear, 7-a left bevel gear, 8-a right bevel gear, 9A-a rotation shaft of the left bevel gear, 9B-a rotation shaft of the right bevel gear, 9C-a rotation shaft of a third front spur gear, 9D-a rotation shaft of a fourth front spur gear, 10A-a first front spur gear, 10B-a second front spur gear, 10C-a third front spur gear, 10D-a fourth front spur gear, 11A-a first meshing gear ring, 11B-a second meshing gear ring, 11C-a third meshing gear ring, 11D-a fourth meshing gear ring, 12A-a first front steering gear, 12B-a second front steering gear, 12C-a third front steering gear ring, 12D-a fourth front steering gear, 13A-a first front steering rack, 13B-a second front steering rack, 14A-a tie rod of a front left conducting unit, 14B-a tie rod of a front right conducting unit, 15A-a knuckle of a front left conducting unit, 15B-a knuckle of a front right conducting unit, 16A-a control arm of a front left conducting unit, 16B-a control arm of a front right conducting unit, 17-a hub motor, 18A-a front left wheel, 18B-a front right wheel, 19-a frame front portion, 20-a frame rear portion, 21A-a first steering motor, 21B-a second steering motor, 22A-a first rear steering gear, 22B-a second rear steering gear, 23A-a first rear steering rack, 23B-a second rear steering rack, 24A-a tie rod of a rear left conducting unit, 24B-a tie rod of a rear right conducting unit, 25A-a knuckle of a rear left conducting unit, 25B-a knuckle of a rear right conducting unit, 26A-a control arm of a rear left conducting unit, 26B-a control arm of a rear right conducting unit, 27A-a left rear wheel, 27B-a right rear wheel.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
The invention discloses a hub motor distributed type electric drive automobile multifunctional steering mechanism, which comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth vehicle wheel steering angle sensors, a running mode switching module and a control module, wherein the front steering module is connected with the rear steering module through a transmission mechanism;
as shown in fig. 1 and 2, the front steering module includes first to second hub motors, a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving bevel gear, a left bevel gear, a right bevel gear, first to fourth front straight gears, first to fourth meshing gear rings, first to fourth front steering gears, first to second front steering racks, a front left conduction unit, and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint; the other end of the steering shaft is coaxially and fixedly connected with a rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged on the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and rotating shafts of the left bevel gear and the right bevel gear are perpendicular to the steering shaft;
the first front steering rack and the second front steering rack are respectively arranged on the frame at the left side and the right side of the driving bevel gear and are parallel to the steering shaft;
the first front straight gear is meshed with the second front straight gear, and a rotating shaft of the first front straight gear is connected with a rotating shaft of the first front steering gear through a first meshed gear ring; one end of the second front straight gear rotating shaft is connected with the rotating shaft of the first front steering gear through the second meshing gear ring, and the other end of the second front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the left bevel gear; the first front steering gear and the second front steering gear are meshed with the first front steering rack, and the first front steering gear and the second front steering gear are not meshed with each other;
the third front straight gear is meshed with the fourth front straight gear, and a rotating shaft of the third front straight gear is connected with a rotating shaft of the third front steering gear through a third meshed gear ring; one end of the fourth front straight gear rotating shaft is connected with the rotating shaft of the fourth front steering gear through the fourth meshing gear ring, and the other end of the fourth front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the right bevel gear; the third front steering gear and the fourth front steering gear are meshed with the second front steering rack, and the third front steering gear and the fourth front steering gear are not meshed with each other;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile;
as shown in fig. 3, the rear steering module includes third to fourth hub motors, first to second steering motors, first to second rear steering gears, first to second rear steering racks, a rear left conduction unit, and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first rear steering rack and the second rear steering rack are respectively arranged on the frames at the inner sides of the left rear wheel and the right rear wheel of the automobile and are parallel to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and output shafts of the first steering motor and the second steering motor are respectively and coaxially and fixedly connected with rotating shafts of the first rear steering gear and the second rear steering gear;
the first rear steering gear and the second rear steering gear are respectively meshed with the first rear steering rack and the second rear steering rack; the output ends of the first rear steering rack and the second rear steering rack are respectively connected with the left rear wheel and the right rear wheel of the automobile through a rear left conduction unit and a rear right conduction unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque of the first steering motor and the steering torque of the second steering motor to a left rear wheel and a right rear wheel of the automobile;
the vehicle speed sensor is used for acquiring the vehicle speed of the vehicle and transmitting the vehicle speed to the control module;
the first wheel turning angle sensor, the second wheel turning angle sensor, the third wheel turning angle sensor, the fourth wheel;
the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises five modes: a two-front-wheel steering mode, a four-wheel steering mode, a fixed-point zero-radius steering mode, a transverse driving mode and a high-speed driving rear-wheel steering mode;
the control module is electrically connected with the vehicle speed sensor, the first wheel rotation angle sensor, the second wheel rotation angle sensor, the fourth wheel rotation angle sensor, the running mode switching module, the first steering motor, the second steering motor, the first meshing gear ring, the second meshing gear ring, the first hub motor, the second hub motor, the fourth meshing gear ring and the fourth hub motor respectively and is used for controlling the first steering motor, the second steering motor, the first meshing gear ring, the fourth hub motor and the fourth hub motor to work according to data of the vehicle speed sensor, the first wheel rotation angle sensor, the fourth wheel rotation angle sensor and the running mode switching module.
As shown in fig. 1 and 3, each of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit comprises a tie rod, a knuckle and a control arm, wherein one end of the control arm is connected with the frame through a ball pin, and the other end of the control arm is connected with the knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output ends of the first front steering rack, the second front steering rack, the first rear steering rack and the second rear steering rack.
As shown in fig. 4, the invention also discloses a two-front-wheel steering method of the wheel hub motor distributed electrically-driven automobile multifunctional steering mechanism, which comprises the following specific steps:
step A.1), a driver selects two front wheel steering modes through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively.
As shown in fig. 5 and 6, the invention also discloses a four-wheel steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
b.1), the driver selects a four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step B.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively to complete the steering of the two front wheels;
step B.4), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
step B.5), the module controls the vehicle speed to be compared with a preset first speed threshold value;
step B.5.1), when the vehicle speed is less than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the steering directions of the left rear wheel and the right rear wheel are opposite to the steering directions of the left front wheel and the right front wheel, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset first proportional threshold;
and B.5.2), when the vehicle speed is greater than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel, the right rear wheel and the left front wheel and the right front wheel have the same steering direction, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset second proportion threshold.
As shown in fig. 7, the invention also discloses a fixed point zero radius steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step C.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step C.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the third front steering gear;
step C.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
step C.4), a driver controls the left front wheel and the right front wheel to rotate through the steering wheel, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and C.5), the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, so that the rotating angles of the left rear wheel and the right rear wheel of the automobile are arctan (L/d).
As shown in fig. 8, the invention also discloses a transverse driving method of the hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step D.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step D.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
d.4), controlling the left front wheel and the right front wheel of the automobile to rotate by a driver through a steering wheel, so that the rotation angle of the left front wheel and the right front wheel of the automobile is 90 degrees;
and D.5), the control module receives signals of a front wheel steering angle sensor, the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, the first rear steering gear and the second rear steering gear are respectively engaged with the first rear steering rack and the second rear steering rack to move and are transmitted to the left rear wheel and the right rear wheel through the rear left transmission unit and the rear right transmission unit, and the rotating angles of the left rear wheel and the right rear wheel of the automobile are 90 degrees.
As shown in fig. 9, the invention also discloses a high-speed driving rear wheel steering method of the hub motor distributed type electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step E.1), the driver operates the vehicle to keep running in a straight line;
step E.2), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
e.3), the module controls to compare the vehicle speed with a preset second speed threshold;
e.4), when the vehicle speed is greater than a preset second speed threshold, the control module compares the rotation angles of the left rear wheel and the right rear wheel with a preset rear wheel toe-in minimum threshold and a preset rear wheel toe-in maximum threshold respectively;
step E.4.1), when the rotation angle of the left rear wheel and the right rear wheel is smaller than a preset rear wheel toe-in minimum threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered inwards until the rotation angle of the left rear wheel and the right rear wheel is larger than or equal to the preset rear wheel toe-in minimum threshold;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than the preset maximum threshold value of the front beam of the rear wheel, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered outwards until the rotation angles of the left rear wheel and the right rear wheel are smaller than or equal to the preset maximum threshold value of the front beam of the rear wheel.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The wheel hub motor distributed type electrically driven automobile multifunctional steering mechanism is characterized by comprising a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel steering angle sensors, a running mode switching module and a control module;
the front steering module comprises a first wheel hub motor, a second wheel hub motor, a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a driving bevel gear, a left bevel gear, a right bevel gear, a first front straight gear, a second front straight gear, a first meshing gear ring, a second meshing gear ring, a first front steering gear, a second front steering gear, a first front steering rack, a second front steering rack, a front left conduction unit and a front right conduction unit;
the first wheel hub motor, the second wheel hub motor, the third wheel hub motor, the fourth wheel hub motor, the fifth wheel hub motor, the sixth wheel hub;
one end of the steering column is vertically and fixedly connected with the center of the steering wheel, and the other end of the steering column is connected with one end of the steering intermediate shaft through a universal joint; the other end of the steering intermediate shaft is connected with one end of the steering shaft through a universal joint; the other end of the steering shaft is coaxially and fixedly connected with a rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged on the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and rotating shafts of the left bevel gear and the right bevel gear are perpendicular to the steering shaft;
the first front steering rack and the second front steering rack are respectively arranged on the frame at the left side and the right side of the driving bevel gear and are parallel to the steering shaft;
the first front straight gear is meshed with the second front straight gear, and a rotating shaft of the first front straight gear is connected with a rotating shaft of the first front steering gear through a first meshed gear ring; one end of the second front straight gear rotating shaft is connected with the rotating shaft of the first front steering gear through the second meshing gear ring, and the other end of the second front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the left bevel gear; the first front steering gear and the second front steering gear are meshed with the first front steering rack, and the first front steering gear and the second front steering gear are not meshed with each other;
the third front straight gear is meshed with the fourth front straight gear, and a rotating shaft of the third front straight gear is connected with a rotating shaft of the third front steering gear through a third meshed gear ring; one end of the fourth front straight gear rotating shaft is connected with the rotating shaft of the fourth front steering gear through the fourth meshing gear ring, and the other end of the fourth front straight gear rotating shaft is coaxially and fixedly connected with the rotating shaft of the right bevel gear; the third front steering gear and the fourth front steering gear are meshed with the second front steering rack, and the third front steering gear and the fourth front steering gear are not meshed with each other;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first hub motor and the second hub motor through the front left conduction unit and the front right conduction unit; the front left conducting unit and the front right conducting unit are respectively used for transmitting the steering torque of the steering wheel to the left front wheel and the right front wheel of the automobile;
the rear steering module comprises third to fourth hub motors, first to second steering motors, first to second rear steering gears, first to second rear steering racks, a rear left conduction unit and a rear right conduction unit;
the third hub motor and the fourth hub motor are arranged at the left rear wheel and the right rear wheel of the automobile, and the rotors are fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile respectively and are used for driving the left rear wheel and the right rear wheel of the automobile to rotate respectively;
the first rear steering rack and the second rear steering rack are respectively arranged on the frames at the inner sides of the left rear wheel and the right rear wheel of the automobile and are both vertical to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and output shafts of the first steering motor and the second steering motor are respectively and coaxially and fixedly connected with rotating shafts of the first rear steering gear and the second rear steering gear;
the first rear steering gear and the second rear steering gear are respectively meshed with the first rear steering rack and the second rear steering rack; the output ends of the first rear steering rack and the second rear steering rack are respectively connected with the left rear wheel and the right rear wheel of the automobile through a rear left conduction unit and a rear right conduction unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting the steering torque of the first steering motor and the steering torque of the second steering motor to a left rear wheel and a right rear wheel of the automobile;
the vehicle speed sensor is used for acquiring the vehicle speed of the vehicle and transmitting the vehicle speed to the control module;
the first wheel turning angle sensor, the second wheel turning angle sensor, the third wheel turning angle sensor, the fourth wheel;
the driving mode switching module is used for sending a driving mode selected by a user to the control module, and the driving mode comprises five modes: a two-front-wheel steering mode, a four-wheel steering mode, a fixed-point zero-radius steering mode, a transverse driving mode and a high-speed driving rear-wheel steering mode;
the control module is electrically connected with the vehicle speed sensor, the first wheel rotation angle sensor, the second wheel rotation angle sensor, the fourth wheel rotation angle sensor, the running mode switching module, the first steering motor, the second steering motor, the first meshing gear ring, the second meshing gear ring, the first hub motor, the second hub motor, the fourth meshing gear ring and the fourth hub motor respectively and is used for controlling the first steering motor, the second steering motor, the first meshing gear ring, the fourth hub motor and the fourth hub motor to work according to data of the vehicle speed sensor, the first wheel rotation angle sensor, the fourth wheel rotation angle sensor and the running mode switching module.
2. The in-wheel motor distributed electric drive automobile multifunctional steering mechanism is characterized in that the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit respectively comprise a steering tie rod, a steering knuckle and a control arm, wherein one end of the control arm is connected with a frame through a ball pin, and the other end of the control arm is connected with the steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
the steering knuckles of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are fixedly connected with the centers of the stators of the first to fourth hub motors respectively; the other ends of the tie rods of the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit are respectively connected with the output ends of the first front steering rack, the second front steering rack, the first rear steering rack and the second rear steering rack.
3. The two-front-wheel steering method of the in-wheel motor distributed electrically-driven automobile multifunctional steering mechanism based on the claim 1 comprises the following specific steps:
step A.1), a driver selects two front wheel steering modes through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step A.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step A.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively.
4. The four-wheel steering method of the multifunctional steering mechanism of the in-wheel motor distributed electric drive automobile based on the claim 1 comprises the following specific steps:
b.1), the driver selects a four-wheel steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step B.2), the control module controls the second meshing gear ring and the fourth meshing gear ring to be in a meshing state, controls the first meshing gear ring and the third meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step B.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move sequentially through a fourth front straight gear, a third front straight gear and a third front steering gear; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively to complete the steering of the two front wheels;
step B.4), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
step B.5), the module controls the vehicle speed to be compared with a preset first speed threshold value;
step B.5.1), when the vehicle speed is less than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the steering directions of the left rear wheel and the right rear wheel are opposite to the steering directions of the left front wheel and the right front wheel, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset first proportional threshold;
and B.5.2), when the vehicle speed is greater than a preset first speed threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel, the right rear wheel and the left front wheel and the right front wheel have the same steering direction, and the ratio of the wheel rotation angle of the left rear wheel and the right rear wheel to the wheel rotation angle of the left front wheel and the right front wheel is a preset second proportion threshold.
5. The fixed-point zero-radius steering method of the in-wheel motor distributed electrically-driven automobile multifunctional steering mechanism based on the claim 1 comprises the following specific steps:
step C.1), a driver selects a fixed-point zero-radius steering mode through a driving mode switching module, and the driving mode switching module transmits the information to a control module;
step C.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separated state, and cuts off power sources of the second front steering gear and the third front steering gear;
step C.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
step C.4), a driver controls the left front wheel and the right front wheel to rotate through the steering wheel, so that the turning angles arctan (L/d) of the left front wheel and the right front wheel are enabled, L represents the automobile wheelbase, d represents the wheelbase, and the steering of the two front wheels is completed;
and C.5), the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, so that the rotating angles of the left rear wheel and the right rear wheel of the automobile are arctan (L/d).
6. The transverse driving method of the multifunctional steering mechanism of the in-wheel motor distributed electric drive automobile based on the claim 1 comprises the following specific steps:
step D.1), the driver selects a transverse driving mode through the driving mode switching module, and the driving mode switching module transmits the information to the control module;
step D.2), the control module controls the second meshing gear ring and the third meshing gear ring to be in a meshing state, controls the first meshing gear ring and the fourth meshing gear ring to be in a separating state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when a driver rotates a steering wheel, the torque of the steering wheel is sequentially transmitted to a left bevel gear and a right bevel gear through a steering column, a steering intermediate shaft, a steering shaft and a driving bevel gear respectively; the left bevel gear drives the first front steering rack to move sequentially through the second front straight gear, the first front straight gear and the first front steering gear; the right bevel gear drives a second front steering rack to move through a fourth front straight gear and a fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit the steering torque of the steering wheel to the left front wheel and the right front wheel through the front left transmission unit and the front right transmission unit respectively;
d.4), controlling the left front wheel and the right front wheel of the automobile to rotate by a driver through a steering wheel, so that the rotation angle of the left front wheel and the right front wheel of the automobile is 90 degrees;
and D.5), the control module receives signals of a front wheel steering angle sensor, the control module controls the first steering motor and the second steering motor to work to drive the first rear steering gear and the second rear steering gear to rotate, the first rear steering gear and the second rear steering gear are respectively engaged with the first rear steering rack and the second rear steering rack to move and are transmitted to the left rear wheel and the right rear wheel through the rear left transmission unit and the rear right transmission unit, and the rotating angles of the left rear wheel and the right rear wheel of the automobile are 90 degrees.
7. The method for steering the high-speed rear wheel of the multifunctional steering mechanism of the in-wheel motor distributed electrically-driven automobile based on the claim 1 comprises the following specific steps:
step E.1), the driver operates the vehicle to keep running in a straight line;
step E.2), the control module receives signals of a vehicle speed sensor, a third wheel rotation angle sensor and a fourth wheel rotation angle sensor to obtain the vehicle speed of the vehicle and the rotation angles of the left rear wheel and the right rear wheel of the vehicle;
e.3), the module controls to compare the vehicle speed with a preset second speed threshold;
e.4), when the vehicle speed is greater than a preset second speed threshold, the control module compares the rotation angles of the left rear wheel and the right rear wheel with a preset rear wheel toe-in minimum threshold and a preset rear wheel toe-in maximum threshold respectively;
step E.4.1), when the rotation angle of the left rear wheel and the right rear wheel is smaller than a preset rear wheel toe-in minimum threshold, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered inwards until the rotation angle of the left rear wheel and the right rear wheel is larger than or equal to the preset rear wheel toe-in minimum threshold;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than the preset maximum threshold value of the front beam of the rear wheel, the control module controls the first steering motor and the second steering motor to work, so that the left rear wheel and the right rear wheel are steered outwards until the rotation angles of the left rear wheel and the right rear wheel are smaller than or equal to the preset maximum threshold value of the front beam of the rear wheel.
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| CN114179905B (en) * | 2021-12-29 | 2023-09-08 | 吉林大学 | Control method of double-mode rear wheel active steering system |
| CN114954646A (en) * | 2022-06-16 | 2022-08-30 | 北京理工大学 | Vehicle steering system and steering method |
| CN114954646B (en) * | 2022-06-16 | 2023-10-03 | 北京理工大学 | Vehicle steering system and steering method |
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| CN110654448B (en) | 2023-07-25 |
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