CN110654448B - Multifunctional steering mechanism of hub motor distributed electric drive automobile and method thereof - Google Patents
Multifunctional steering mechanism of hub motor distributed electric drive automobile and method thereof Download PDFInfo
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- CN110654448B CN110654448B CN201910911267.9A CN201910911267A CN110654448B CN 110654448 B CN110654448 B CN 110654448B CN 201910911267 A CN201910911267 A CN 201910911267A CN 110654448 B CN110654448 B CN 110654448B
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- 238000000926 separation method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction 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
- B62D3/12—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
-
- 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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Power Steering Mechanism (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a multifunctional steering mechanism of a hub motor distributed electric drive automobile and a method thereof, wherein the steering mechanism comprises a front steering module, a rear steering module, a speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module; the control module controls the front steering module and the rear steering module to work according to the 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 running mode and high speed running rear wheel steering mode.
Description
Technical Field
The invention relates to the technical field of hub motor distributed electric drive automobiles, in particular to a multifunctional steering mechanism of a hub motor distributed electric drive automobile and a method thereof.
Background
As the pressure of energy and environmental protection is more and more heavy, the development of new energy automobiles has become a research hotspot of automobile industry in various countries, and the distributed electric drive automobiles with hub motors are more focused. The existing wheel hub motor distributed electric drive automobile multifunctional steering mechanism has single function, is generally in a two-wheel steering mode or a four-wheel steering mode, cannot be switched in multiple modes, and the traditional automobile steering mechanism limits the steering angle of front wheels to be between-35 degrees and +35 degrees due to a steering tie rod.
Disclosure of Invention
Aiming at the defects related to the background technology, the invention provides the multifunctional steering mechanism of the hub motor distributed electric drive automobile and the method thereof, which not only can realize the steering of two front wheels and four wheels of longitudinal running, but also can realize the fixed-point zero-radius steering and transverse running, thereby meeting the requirements of flexible steering and simple operation when the automobile turns around or parks and goes into storage in a narrow range.
The invention adopts the following technical scheme for solving the technical problems:
the wheel hub motor distributed type electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module;
the front steering module comprises 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 conducting unit and a front right conducting unit;
the first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors respectively, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module.
As a further optimization scheme of the multifunctional steering mechanism of the hub motor distributed electric drive automobile, the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit all comprise steering tie rods, steering knuckles and control arms, wherein one end of each control arm is connected with a frame through a ball pin, and the other end of each control arm is connected with each steering knuckle; one end of the steering tie rod is connected with the steering knuckle;
The steering joints of the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit are respectively and fixedly connected with the centers of the stators of the first wheel hub motor and the second wheel hub motor; 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 wheel 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 separation 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 the steering wheel, the torque of the steering wheel is respectively 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 in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit respectively.
The invention also discloses a four-wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step B.1), a 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 separation state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step B.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack respectively transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit to finish 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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
step B.5), the module controls to compare the vehicle speed with a preset first speed threshold;
step B.5.1), when the vehicle speed is smaller 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 those of the left front wheel and the right front wheel, and the ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset first ratio 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 ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset second ratio threshold, wherein the steering directions of the left rear wheel and the right rear wheel and the steering directions of the left front wheel and the right front wheel are the same.
The invention also discloses a fixed-point zero-radius steering method of the wheel 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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
step C.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 a steering wheel, so that the rotation angles arctan (L/d) of the left front wheel and the right front wheel are equal, L represents the wheelbase of the automobile, 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 and drives the first rear steering gear and the second rear steering gear to rotate, so that the rotation 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 wheel hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step D.1), the driver selects a transverse running mode through a running mode switching module, and the running mode switching module transmits the information to a 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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 D.4), a driver controls the left front wheel and the right front wheel of the automobile to rotate through a steering wheel, so that the rotation angles of the left front wheel and the right front wheel of the automobile are 90 degrees;
and D.5), the control module receives signals of the front wheel steering angle sensor, and controls the first steering motor and the second steering motor to work so as to drive the first rear steering gear and the second rear steering gear to rotate, and the first rear steering gear and the second rear steering gear respectively mesh 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, so that the angles of the left rear wheel and the right rear wheel of the automobile are 90 degrees.
The invention also discloses a high-speed running rear wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step E.1), the driver manipulates the vehicle to keep straight running;
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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
e.3), the module controls to compare the speed of the vehicle 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;
e.4.1), when the rotation angles of the left rear wheel and the right rear wheel are smaller than a preset minimum threshold value of the toe-in 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 steer inwards until the rotation angles of the left rear wheel and the right rear wheel are larger than or equal to the preset minimum threshold value of the toe-in of the rear wheel;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than a preset maximum threshold value of the toe-in 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 steer 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 toe-in of the rear wheel.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
the wheel hub motor distributed electric drive automobile multifunctional steering mechanism can realize steering of two front wheels and four wheels; the two front wheels steering includes: two front wheels which normally run are turned normally, and two rear wheels which run at high speed are turned; the two rear wheels running at high speed are turned inwards, so that a front beam is increased, and the stability of the vehicle running at high speed and the stability of the vehicle body during braking are enhanced; the four-wheel steering mainly comprises that the steering direction of the rear wheels is opposite to the steering direction of the front wheels during low-speed steering; when the vehicle is turned at a high speed, the turning direction of the rear wheels is opposite to the turning direction of the front wheels; when turning around, entering and exiting the garage and parking spaces are in shortage, fixed-point zero-radius steering and transverse running are realized; the four-wheel steering technology can reduce the turning radius of the automobile, realize fixed-point zero-radius steering and transverse running in a narrow space range, and enable the automobile body to be controlled flexibly.
Drawings
FIG. 1 is a schematic view of a front steering module according to the present invention;
FIG. 2 is a schematic view of the configuration of the front steering module of the present invention with each conductive mechanism engaged;
FIG. 3 is a schematic view of the rear steering module of the present invention;
FIG. 4 is a schematic diagram of the steering mode of the front wheels of the present invention;
FIG. 5 is a schematic diagram of a four-wheel steering mode when the vehicle speed is less than a preset first speed threshold;
FIG. 6 is a schematic diagram of a four-wheel steering mode when the vehicle speed is 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 diagram of the lateral travel mode of the present invention;
fig. 9 is a schematic diagram of the high-speed two-rear wheel steering mode in the present invention.
In the figure, 1-steering wheel, 2-steering column, 3-steering intermediate shaft, 4-steering shaft, 5-universal joint, 6-drive bevel gear, 7-left bevel gear, 8-right bevel gear, 9A-rotation shaft of left bevel gear, 9B-rotation shaft of right bevel gear, 9C-rotation shaft of third front straight gear, 9D-rotation shaft of fourth front straight gear, 10A-first front straight gear, 10B-second front straight gear, 10C-third front straight gear, 10D-fourth front straight gear, 11A-first meshing gear, 11B-second meshing gear, 11C-third meshing gear, 11D-fourth meshing gear, 12A-first front steering gear, 12B-second front steering gear, 12C-third front steering gear, 12D-fourth front steering gear, 13A-first front steering rack, 13B-second front steering rack, 14A-left front steering rack, 14B-right front steering rack, 15A-left front steering rack, 15B-right front steering rack, 16A-left front steering rack control arm, 16B-right front steering rack control arm, 17-in-wheel motor, 18A-left front wheel, 18B-right front wheel, 19-front frame, 20-rear frame, 21A-first steering motor, 21B-second steering motor, 22A-first rear steering gear, 22B-second rear steering gear, 23A-first rear steering rack, 23B-second rear steering rack, 24A-left rear steering rack, a tie rod of a 24B-rear right conduction unit, a knuckle of a 25A-rear left conduction unit, a knuckle of a 25B-rear right conduction unit, a control arm of a 26A-rear left conduction unit, a control arm of a 26B-rear right conduction unit, a 27A-left rear wheel, and a 27B-right rear wheel.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this 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, the components are exaggerated for clarity.
The invention discloses a multifunctional steering mechanism of an in-wheel motor distributed electric drive automobile, which comprises a front steering module, a rear steering module, a speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module, wherein the front steering module is connected with the rear steering module;
as shown in fig. 1 and 2, the front steering module includes first to second in-wheel motors, a steering wheel, a steering column, a steering intermediate shaft, a steering shaft, a drive bevel gear, a left bevel gear, a right bevel gear, first to fourth front spur gears, first to fourth meshing ring gears, first to fourth front steering gears, first to second front steering racks, a front left conductive unit, and a front right conductive unit;
the first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an 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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors respectively, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module.
As shown in fig. 1 and 3, the front left conducting unit, the front right conducting unit, the rear left conducting unit and the rear right conducting unit all comprise a 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 joints of the front left conduction unit, the front right conduction unit, the rear left conduction unit and the rear right conduction unit are respectively and fixedly connected with the centers of the stators of the first wheel hub motor and the second wheel hub motor; 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 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 separation 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 the steering wheel, the torque of the steering wheel is respectively 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 in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit respectively.
As shown in fig. 5 and 6, the invention also discloses a four-wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step B.1), a 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 separation state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
step B.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack respectively transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit to finish 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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
step B.5), the module controls to compare the vehicle speed with a preset first speed threshold;
step B.5.1), when the vehicle speed is smaller 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 those of the left front wheel and the right front wheel, and the ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset first ratio 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 ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset second ratio threshold, wherein the steering directions of the left rear wheel and the right rear wheel and the steering directions of the left front wheel and the right front wheel are the same.
As shown in fig. 7, the invention also discloses a fixed-point zero-radius steering method of the wheel 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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
step C.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 a steering wheel, so that the rotation angles arctan (L/d) of the left front wheel and the right front wheel are equal, L represents the wheelbase of the automobile, 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 and drives the first rear steering gear and the second rear steering gear to rotate, so that the rotation 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 running method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism, which comprises the following specific steps:
step D.1), the driver selects a transverse running mode through a running mode switching module, and the running mode switching module transmits the information to a 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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 D.4), a driver controls the left front wheel and the right front wheel of the automobile to rotate through a steering wheel, so that the rotation angles of the left front wheel and the right front wheel of the automobile are 90 degrees;
and D.5), the control module receives signals of the front wheel steering angle sensor, and controls the first steering motor and the second steering motor to work so as to drive the first rear steering gear and the second rear steering gear to rotate, and the first rear steering gear and the second rear steering gear respectively mesh 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, so that the 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 method for turning the rear wheel of the multi-functional steering mechanism of the hub motor distributed electric drive automobile at high speed, which comprises the following specific steps:
step E.1), the driver manipulates the vehicle to keep straight running;
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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
E.3), the module controls to compare the speed of the vehicle 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;
e.4.1), when the rotation angles of the left rear wheel and the right rear wheel are smaller than a preset minimum threshold value of the toe-in 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 steer inwards until the rotation angles of the left rear wheel and the right rear wheel are larger than or equal to the preset minimum threshold value of the toe-in of the rear wheel;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than a preset maximum threshold value of the toe-in 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 steer 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 toe-in 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.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no changes, substitutions, or alterations herein fall within the spirit and principles of the invention.
Claims (5)
1. The two front wheel steering method of the wheel hub motor distributed type electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module;
the front steering module comprises 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 conducting unit and a front right conducting unit;
the first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is respectively and electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module;
the method is characterized by comprising the following specific steps of:
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 separation 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 the steering wheel, the torque of the steering wheel is respectively 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 in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit respectively.
2. The four-wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module;
the front steering module comprises 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 conducting unit and a front right conducting unit;
The first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is respectively and electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module;
the four-wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism is characterized by comprising the following specific steps of:
step B.1), a 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 separation state, and cuts off power sources of the second front steering gear and the fourth front steering gear;
Step B.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear, the third front straight gear and the third front steering gear in sequence; the first front steering rack and the second front steering rack respectively transmit steering torque of the steering wheel to the left front wheel and the right front wheel through the front left conducting unit and the front right conducting unit to finish 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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
step B.5), the module controls to compare the vehicle speed with a preset first speed threshold;
step B.5.1), when the vehicle speed is smaller 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 those of the left front wheel and the right front wheel, and the ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset first ratio 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 ratio of the wheel angles of the left rear wheel and the right rear wheel to the wheel angles of the left front wheel and the right front wheel is a preset second ratio threshold, wherein the steering directions of the left rear wheel and the right rear wheel and the steering directions of the left front wheel and the right front wheel are the same.
3. The fixed-point zero-radius steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module;
the front steering module comprises 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 conducting unit and a front right conducting unit;
the first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is respectively and electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module;
the fixed-point zero-radius steering method of the hub motor distributed electric drive automobile multifunctional steering mechanism is characterized by comprising the following specific steps of:
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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
Step C.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 a steering wheel, so that the rotation angles arctan (L/d) of the left front wheel and the right front wheel are equal, L represents the wheelbase of the automobile, 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 and drives the first rear steering gear and the second rear steering gear to rotate, so that the rotation angles of the left rear wheel and the right rear wheel of the automobile are arctan (L/d).
4. The wheel hub motor distributed electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a driving mode switching module and a control module;
The front steering module comprises 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 conducting unit and a front right conducting unit;
the first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
the third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
The rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
the running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is respectively and electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module;
The transverse running method of the wheel hub motor distributed type electric drive automobile multifunctional steering mechanism is characterized by comprising the following specific steps of:
step D.1), the driver selects a transverse running mode through a running mode switching module, and the running mode switching module transmits the information to a 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 separation state, and cuts off power sources of the second front steering gear and the third front steering gear;
step D.3), when the driver rotates the steering wheel, the torque of the steering wheel is respectively transmitted to the left bevel gear and the right bevel gear through the steering column, the steering intermediate shaft, the steering shaft and the driving bevel gear in sequence; the left bevel gear drives the first front steering rack to move through the second front straight gear, the first front straight gear and the first front steering gear in sequence; the right bevel gear drives the second front steering rack to move through the fourth front straight gear and the fourth front steering gear in sequence; the first front steering rack and the second front steering rack transmit 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 D.4), a driver controls the left front wheel and the right front wheel of the automobile to rotate through a steering wheel, so that the rotation angles of the left front wheel and the right front wheel of the automobile are 90 degrees;
and D.5), the control module receives signals of the front wheel steering angle sensor, and controls the first steering motor and the second steering motor to work so as to drive the first rear steering gear and the second rear steering gear to rotate, and the first rear steering gear and the second rear steering gear respectively mesh 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, so that the angles of the left rear wheel and the right rear wheel of the automobile are 90 degrees.
5. The high-speed running rear wheel steering method of the wheel hub motor distributed electric drive automobile multifunctional steering mechanism comprises a front steering module, a rear steering module, a vehicle speed sensor, first to fourth wheel rotation angle sensors, a running mode switching module and a control module;
the front steering module comprises 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 conducting unit and a front right conducting unit;
The first hub motor, the second hub motor and the rotor are respectively fixedly connected with rims of the left front wheel and the right front wheel of the automobile and are respectively used for driving the left front wheel and the right front wheel of the automobile to rotate;
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 the rotating shaft of the driving bevel gear;
the left bevel gear and the right bevel gear are respectively arranged at the left side and the right side of the driving bevel gear and are meshed with the driving bevel gear, and the 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 frames 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 the rotating shaft of the first front straight gear is connected with the rotating shaft of the first front steering gear through a first meshing 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;
The third front straight gear is meshed with the fourth front straight gear, and the rotating shaft of the third front straight gear is connected with the rotating shaft of the third front steering gear through a third meshing 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;
the output ends of the first front steering rack and the second front steering rack are respectively connected with the first wheel hub motor and the second wheel hub motor through a front left conduction unit and a front right conduction unit; the front left conduction unit and the front right conduction unit are respectively used for transmitting steering torque of a steering wheel to a left front wheel and a right front wheel of an automobile;
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 conductive unit, and a rear right conductive 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 respectively fixedly connected with rims of the left rear wheel and the right rear wheel of the automobile and are respectively used for driving the left rear wheel and the right rear wheel of the automobile to rotate;
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 perpendicular to the steering shaft; the first steering motor and the second steering motor are fixed on the automobile frame, and the output shafts of the first steering motor and the second steering motor are respectively and coaxially fixedly connected with the 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 conducting unit and a rear right conducting unit;
the rear left conduction unit and the rear right conduction unit are respectively used for transmitting steering torque of the first steering motor and the second steering motor to left rear wheels and right rear wheels of the automobile;
the speed sensor is used for obtaining the speed of the automobile and transmitting the speed to the control module;
the first to fourth wheel rotation angle sensors are respectively arranged at the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile, are respectively used for obtaining wheel rotation angles of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the automobile and transmitting the wheel rotation angles to the control module;
The running mode switching module is used for sending the running mode selected by the user to the control module, and the running modes comprise five modes: two front wheel steering mode, four wheel steering mode, fixed point zero radius steering mode, transverse running mode and high speed running rear wheel steering mode;
the control module is respectively and electrically connected with the vehicle speed sensor, the first to fourth wheel rotation angle sensors, the driving mode switching module, the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors, and is used for controlling the first steering motor, the second steering motor, the first to fourth meshing gear rings and the first to fourth wheel hub motors to work according to the data of the vehicle speed sensor, the first to fourth wheel rotation angle sensors and the driving mode switching module;
the method is characterized by comprising the following specific steps of:
step E.1), the driver manipulates the vehicle to keep straight running;
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 automobile and the rotation angles of the left rear wheel and the right rear wheel of the automobile;
E.3), the module controls to compare the speed of the vehicle 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;
e.4.1), when the rotation angles of the left rear wheel and the right rear wheel are smaller than a preset minimum threshold value of the toe-in 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 steer inwards until the rotation angles of the left rear wheel and the right rear wheel are larger than or equal to the preset minimum threshold value of the toe-in of the rear wheel;
and E.2.2) when the rotation angles of the left rear wheel and the right rear wheel are larger than a preset maximum threshold value of the toe-in 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 steer 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 toe-in 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 |
| CN114954646B (en) * | 2022-06-16 | 2023-10-03 | 北京理工大学 | Vehicle steering system and steering method |
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