CN110745179B - Steering structure for steer-by-wire vehicle and control method thereof - Google Patents
Steering structure for steer-by-wire vehicle and control method thereof Download PDFInfo
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- CN110745179B CN110745179B CN201911085989.XA CN201911085989A CN110745179B CN 110745179 B CN110745179 B CN 110745179B CN 201911085989 A CN201911085989 A CN 201911085989A CN 110745179 B CN110745179 B CN 110745179B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000009467 reduction Effects 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 8
- 238000011002 quantification Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000026676 system process Effects 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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/148—Mounting of suspension arms on the unsprung part of the vehicle, e.g. wheel knuckle or rigid axle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering structure for a steer-by-wire vehicle, which comprises: the two ends of the steering knuckle extend to one side of the steering knuckle to form a first extension part and a second extension part respectively; the motor seat is fixedly arranged on the first extension part, and a groove is formed in the motor seat; a steering bearing disposed within the groove, and the steering bearing outer race is in interference fit with the groove, an inner race of the steering bearing against the first extension; wherein the steering bearing is a tapered roller bearing; the power output end of the steering motor sequentially penetrates through the bearing inner ring and the first extension part and is fixedly connected with the first extension part; and the lower cross arm is fixedly arranged on one side of the motor base. The structure has the advantages of no need of the traditional mechanical structure such as a universal joint transmission shaft and the like, and small occupied space. The invention also provides a control method for the steering structure on the steer-by-wire vehicle.
Description
Technical Field
The invention relates to a steering structure for a steer-by-wire vehicle and a control method thereof, belonging to the field of steering-by-wire of automobiles.
Background
The Wire steering is "Seer-By-Wire", which belongs to one kind of Wire control technology "X-By-Wire". The steering-By-Wire is originally derived from aerospace science and technology, and is derived from flying-By-Wire of aviation steering, and then with the development of electronic technology and control technology, more and more people begin to research the application of the steering-By-Wire in the automobile field.
As early as the 60 s of the 20 th century, kasselmann, germany tried to replace the mechanical steering system with an electronic control system, but was limited by the current technology level not successful. In 1990, german speed corporation began a steer-by-wire study and developed an F400car concept car based on the steer-by-wire study. In 2000, BMW introduced a Z22 concept vehicle, which reduced the steering angle of the steering wheel and reduced the difficulty of the driver's operation by means of a suitable control strategy. In 2010, toyota corporation has introduced an FT-EV II concept vehicle, and has realized functions such as acceleration, braking, etc. of the vehicle through knobs and keys. In 2015, inflight introduced the first global mass-produced vehicle model Q50 with steer-by-wire application.
The steering by wire is originally derived from aerospace technology, and more people begin to study the application of the steering by wire to automobiles along with the breakthrough of electronic control technology in recent years and have achieved a series of achievements.
The steering-by-wire technology adopts signals to control the steering of the automobile, is connected between a steering wheel and a steering wheel through electronic signals, does not need a universal joint, a transmission shaft and other traditional mechanical structures, and can easily realize the analysis of the intention of a driver and the feedback of road feel through the acquisition of corresponding sensor data and the control of a steering motor and a road feel motor. Compared with the traditional mechanical structure, the steering device is lighter and more flexible, quicker in response, smaller in required space, and capable of improving the collision safety of the vehicle, adapting to the requirements of different drivers on different steering handfeel and feedback road feel by changing the transmission ratio, and bringing more comfortable driving experience for the drivers.
Disclosure of Invention
The invention designs and develops a steering structure for a steer-by-wire vehicle, which can directly drive a steering knuckle and wheels to rotate through a steering motor when an automobile steers, and has flexible rotation and large steering angle.
The invention also designs and develops a control method for the steering structure on the steer-by-wire vehicle, and the control accuracy of the steering angle and the control accuracy of the wheels in the steering process is improved by monitoring the driving parameters in the steering process and controlling the actual steering angles of the wheels through the control system.
The technical scheme provided by the invention is as follows:
a control method for a steering structure on a steer-by-wire vehicle, the steering structure on a steer-by-wire vehicle comprising:
the steering knuckle has two ends outwards formed with first extending part and second extending part;
the motor seat is arranged on the first extension part, and a groove is formed in the bottom of the motor seat;
a steering bearing disposed within the groove, and the steering bearing outer race is in interference fit with the groove, an inner race of the steering bearing against the first extension;
wherein the steering bearing is a tapered roller bearing;
the power output end of the steering motor sequentially penetrates through the bearing inner ring and the first extension part and is fixedly connected with the first extension part;
the lower cross arm is fixedly arranged on one side of the motor base;
the upper cross arm is fixedly connected with the second extension part, the upper cross arm is fixedly connected with the second extension part through an upper ball pin, and the lower cross arm is fixedly connected with one side of the motor base through two lower ball pins;
the control method for the steering structure on the steer-by-wire vehicle includes:
when the vehicle turns, the steering wheel rotation angle alpha and the vehicle speed v are input into the fuzzy controller, and the theoretical rotation angle theta of the wheels is output;
inputting the deviation e and the deviation change rate ec of the theoretical rotation angle theta of the wheel and the actual rotation angle theta of the wheel in the ith control process into a PID controller, and performing error compensation control on the actual rotation angle theta of the wheel;
wherein the steering wheel rotation angle alpha, the vehicle speed v and the theoretical rotation angle theta of the wheels are divided into 7 grades, and the deviation e and the deviation change rate ec are divided into 7 grades;
the fuzzy universe of the deviation e of the theoretical rotation angle theta and the actual rotation angle theta of the wheel is [ -1,1], and the quantification factor is 1; the fuzzy universe of the deviation change rate ec is [ -3,3], and the quantification factor is 1;
the empirical formula of the working current of the steering motor in the control process is as follows:
wherein I is e For the set working electricityThe flow i is steering transmission ratio, beta is steering wheel rotation angle, omega is automobile mass center deflection angle, L is reduction gearbox output shaft length, r is reduction gearbox output shaft radius, m is automobile mass, v is automobile speed, t automobile running time, and C is compensation constant.
Preferably, the other side of the steering knuckle is fixedly connected with a hub motor.
Preferably, the steering structure further includes: and the reduction gearbox is connected with the power output end of the steering motor.
Preferably, a key groove is formed in the output end of the reduction gearbox, and a spline is formed in the first extension portion in a matched mode and used for enabling the reduction gearbox to be fixedly connected with the first extension portion.
Preferably, the lower cross arm is fixedly connected with the motor base through a ball pin.
Preferably, a spring damper is arranged on the lower cross arm.
Preferably, the steering structure further includes:
steering wheel angle sensor;
a vehicle speed sensor;
a steering motor controller;
a hub motor controller;
and the control system is electrically connected with the steering wheel angle sensor, the vehicle speed sensor, the steering motor controller and the hub motor controller respectively and is used for controlling the wheel angle.
The beneficial effects of the invention are as follows: the steering structure for the steer-by-wire vehicle has the advantages of no need of a universal joint, a transmission shaft and other traditional mechanical structures, small occupied space, sensitive response and the like, compared with the traditional structure, the structure provided by the invention reduces the mechanical structures such as half shafts and the like on the traditional vehicle, can realize the maximum 90-degree steering of wheels, and provides a structural foundation for the functions such as vehicle traversing and the like.
The steering motor base and the lower cross arm are connected by adopting the two ball pins, so that the tightness degree between the parts can be increased, the vehicle steering stability is improved, and the vehicle driving safety is improved.
Drawings
Fig. 1 is a schematic structural view of a steering structure for a steer-by-wire vehicle according to the present invention.
Fig. 2 is a schematic structural diagram of a joint between a motor base and a knuckle according to the present invention.
Fig. 3 is a schematic structural diagram of a joint between a motor base and a lower cross arm according to the present invention.
Fig. 4 is a flow chart of steering motor control according to the present invention.
Fig. 5 is a flow chart of the wheel rotation angle control according to the present invention.
Fig. 6 is a flow chart of the wheel control at steering according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1-6, the present invention provides a steering structure for a steer-by-wire vehicle, comprising: knuckle 100, steering motor mount 200, in-wheel motor 300, reduction gearbox 400, steering motor 500, upper cross arm 600, spring damper 700, and lower cross arm 800.
As shown in fig. 1, two ends of the knuckle 100 extend to one side of the knuckle 100 to form a first extension portion 110 and a second extension portion 120, a hub motor 300 and a brake caliper 310 are fixedly connected to the other side of the knuckle 100, a steering motor seat 200 is disposed on the first extension portion 110, a power output end of the steering motor 500 is connected with a reduction gearbox 400, the reduction gearbox 400 is fixedly disposed on the steering motor seat 200, an upper cross arm 800 is fixedly connected to the second extension portion 120, a lower cross arm 800 is fixedly connected to one side of the motor seat 200, and a spring damper 700 is disposed on the lower cross arm.
As shown in fig. 3, the upper cross arm 600 is fixedly connected with the second extension portion through an upper ball pin, the lower cross arm 800 is fixedly connected with one side of the steering motor base 200 through two lower ball pins 510, and the motor base 20 and the lower cross arm 800 are connected through two lower ball pins 510, so that the tightness degree between the components can be increased, the vehicle steering stability is improved, and the running safety of the vehicle is improved.
The hub motor 300 is fixedly connected with the brake disc, the hub motor 300 is fixedly connected with the wheel, a motor shaft of the hub motor passes through the knuckle 100 and is fixedly connected with the knuckle 100, the hub motor 300 and the knuckle 100 are fixedly connected through a spline, and the tail end of the motor shaft of the hub motor 300 passes through the knuckle 100 and is axially fixed through a compression nut. The brake caliper 310 is fixedly coupled to the knuckle 100 by bolts.
The steering motor 500 is fixedly connected with the reduction gearbox 400, the reduction gearbox 400 is fixedly connected with the steering motor base 200, a first through hole and a second through hole which are coaxially arranged are respectively formed in the steering motor base 200 and the first extension part 110 of the steering knuckle 100 and are used for the passing of the output shaft 410 of the reduction gearbox 400, a groove 210 is formed in the first through hole, and a bearing 220 is arranged in the groove 210.
In the present invention, preferably, the bearing 220 is an interference fit with the groove 210.
In the present invention, as a preferable example, a tapered roller bearing is used as the bearing 220.
The outer ring 221 of the bearing 220 is in interference fit with the groove 210 in the first through hole, and at the same time, the inner ring 222 of the bearing 220 is tightly abutted against the top end surface of the first extension portion 110 of the knuckle 100, so that the steering motor base 200 and the knuckle 100 can rotate relatively. The output shaft of the reduction gearbox 400 passes through the bearing inner ring 222 and the second through hole in sequence and is fixedly connected with the steering knuckle.
At the end of the output shaft 410 of the reduction gearbox 400, a key slot 411 is provided, a spline is provided on the first extension 110, the rotational freedom between the output shaft 410 and the knuckle 100 is limited by the spline, and the axial freedom is limited by the end compression nut 420. When the driver turns the steering wheel, the steering motor 500 starts to rotate after receiving the signal from the steering wheel angle sensor, and drives the output shaft 411 of the reduction gearbox 400 to rotate, and as the bearing 220 is arranged between the output shaft 411 and the steering motor base 200 and the output shaft 411 is connected with the first extension part 110 of the steering knuckle through a key, the rotation of the output shaft 411 of the reduction gearbox 400 drives the steering knuckle 100 to rotate, so that the tire is driven to rotate by a corresponding angle, and the purpose of steering by wire is achieved.
As the mechanical structures such as half shafts on the traditional vehicle are omitted, the maximum wheel turning angle of the structure can reach 90 degrees, and a mechanical structure foundation is provided for some special steering modes of the vehicle such as transverse travel and the like.
When the automobile runs, a steering angle sensor is arranged on the steering wheel, a vehicle speed sensor is arranged in the driving axle housing, a steering motor controller is arranged on the steering motor 500, a hub motor controller is arranged on the hub motor 300, and a control system (ECU) is respectively electrically connected with the steering angle sensor, the vehicle speed sensor, the steering motor controller and the hub motor controller and used for controlling the steering of the automobile and the steering angle of wheels.
The invention also provides a control method for the steering structure of the steer-by-wire vehicle, which improves the control precision and efficiency of the wheel turning angle in the steering process by monitoring the driving parameters in the steering process and controlling the actual turning angle of the wheels through a control system.
As shown in fig. 4, the steering motor 500 is controlled to rotate mainly by one of three control methods of position, speed and current, different control modes are selected according to different requirements, current loop control is generally selected when the vehicle is running normally, and position loop control is entered when the wheels are ready for 90-degree steering.
As shown in fig. 5, when the driver turns the steering wheel, the rotation angle sensor senses the angle by which the driver turns the steering wheel, and transmits a corresponding rotation angle signal to the control system. The control system processes the input steering wheel angle signals according to the information such as the vehicle speed signals and the like to obtain the angle through which the wheels should rotate, and transmits corresponding signals to the steering motor controller. The steering motor controller adopts fuzzy PID control, and is concretely as follows:
when the vehicle turns, the steering wheel rotation angle alpha and the vehicle speed v are input into the fuzzy controller, and the theoretical rotation angle theta of the wheels is output;
the theoretical rotation angle of the wheel in the ith control processAnd the actual rotation angle of the wheelThe deviation e and the deviation change rate ec of theta are input into a PID controller, and the PID controller performs error compensation control on the actual rotation angle theta of the wheel.
Wherein the steering wheel angle alpha, the vehicle speed v and the theoretical angle of rotation of the wheelsThe deviation e and the deviation change rate ec are divided into 7 classes: PB (positive large), PM (median), PS (positive small), ZR (zero), NS (negative small), NM (negative medium), NB (negative large).
Theoretical rotation angleThe fuzzy universe of deviation e from the actual turning angle theta of the wheel is [ -1,1]The quantification factor is 1; fuzzy universe of variation rate of deviation ec [ -1,1]The quantification factor is 1;
the actual rotation angle theta of the wheel is controlled by a PID controller, and in the ith control process, the actual rotation angle theta of the wheel is controlled according to the theoretical rotation angle of the wheelDeviation e of actual rotation angle theta of the wheel, deviation change rate ec, and proportionality coefficient K in the controller P Integral coefficient K I And differential coefficient K D The control quantity is formed by linear combination, the actual rotation angle of the wheel is corrected, and the PID control formula is thatProportion link K P The function of (1) is to increase the response speed of the system and the integration link K I The function of (1) is to eliminate static error of the system and the differentiation link K D Is used to improve the dynamic characteristics of the system. The steering motor position sensor is used for measuring the rotating angle of the wheels and then carrying out feedback comparison with the theoretical value calculated by the control system, so that proper wheel rotation angle is ensured.
In the control process, the steering motor 500 is controlled to rotate by controlling the current of the steering motor 500, and the empirical formula of the working current of the steering motor 500 in the control process is as follows:
wherein I is e For the set working current, i is the steering transmission ratio, beta is the steering wheel corner, omega is the automobile mass center deflection angle, L is the length of the output shaft of the reduction gearbox, r is the radius of the output shaft of the reduction gearbox, m is the automobile mass, v is the automobile speed, t the automobile running time and C is the compensation constant.
As shown in fig. 6, when the wheels turn at 90 degrees, the coordination processing of the steering motor 500 and the wheel hub 300 motor is needed, the ECU receives the signal of the large-angle steering of the steering wheel and then sends an instruction to the steering motor controller and the wheel hub motor controller to make the steering motor controller run in coordination, and the corresponding torques of all the components are matched, so that the interference of the wheel hub motor and the steering motor in the steering process is avoided to influence the rotation of the wheels.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. A control method for a steering structure on a steer-by-wire vehicle, characterized by comprising:
the steering knuckle has two ends outwards formed with first extending part and second extending part;
the motor seat is arranged on the first extension part, and a groove is formed in the bottom of the motor seat;
a steering bearing disposed within the groove, and the steering bearing outer race is in interference fit with the groove, an inner race of the steering bearing against the first extension;
wherein the steering bearing is a tapered roller bearing;
the power output end of the steering motor sequentially penetrates through the bearing inner ring and the first extension part and is fixedly connected with the first extension part;
the lower cross arm is fixedly arranged on one side of the motor base;
the upper cross arm is fixedly connected with the second extension part, the upper cross arm is fixedly connected with the second extension part through an upper ball pin, and the lower cross arm is fixedly connected with one side of the motor base through two lower ball pins;
the control method for the steering structure on the steer-by-wire vehicle includes:
when the vehicle turns, the steering wheel angle alpha and the vehicle speed v are input into the fuzzy controller, and the theoretical angle of rotation of the wheels is output
The theoretical rotation angle of the wheel in the ith control processThe deviation e and the deviation change rate ec of the actual rotation angle theta of the wheel are input into a PID controller, and error compensation control is carried out on the actual rotation angle theta of the wheel;
wherein, the steering wheel angle alpha, the vehicle speed v and the theoretical angle of rotation of the wheelsDividing into 7 grades, wherein the deviation e and the deviation change rate ec are divided into 7 grades;
said theoretical rotation angleThe fuzzy universe of deviation e from the actual turning angle theta of the wheel is [ -1,1]The quantification factor is 1; the fuzzy universe of variation rate of deviation ec is [ -3,3]The quantification factor is 1;
the empirical formula of the working current of the steering motor in the control process is as follows:
wherein I is e For the set working current, i is the steering transmission ratio, beta is the steering wheel corner, omega is the automobile mass center deflection angle, L is the length of the output shaft of the reduction gearbox, r is the radius of the output shaft of the reduction gearbox, m is the automobile mass, v is the automobile speed, t the automobile running time and C is the compensation constant.
2. The control method for a steering structure on a steer-by-wire vehicle according to claim 1, wherein the knuckle is fixedly connected to an in-wheel motor on the other side.
3. The control method for a steering structure on a steer-by-wire vehicle according to claim 2, characterized in that the steering structure further comprises: and the reduction gearbox is connected with the power output end of the steering motor.
4. A control method for a steering structure on a steer-by-wire vehicle according to claim 3, wherein a key groove is provided on an output end of the reduction gearbox, and a spline is provided on the first extension portion in a matching manner for fixedly connecting the reduction gearbox with the first extension portion.
5. The control method for a steering structure on a steer-by-wire vehicle according to claim 4, wherein the lower cross arm is fixedly connected with the motor mount through a ball stud.
6. The control method for a steering structure on a steer-by-wire vehicle according to claim 5, wherein a spring damper is provided on the lower cross arm.
7. The control method for a steering structure on a steer-by-wire vehicle according to claim 6, characterized in that the steering structure further comprises:
steering wheel angle sensor;
a vehicle speed sensor;
a steering motor controller;
a hub motor controller;
and the control system is electrically connected with the steering wheel angle sensor, the vehicle speed sensor, the steering motor controller and the hub motor controller respectively and is used for controlling the wheel angle.
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| CN201911085989.XA CN110745179B (en) | 2019-11-08 | 2019-11-08 | Steering structure for steer-by-wire vehicle and control method thereof |
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| CN201911085989.XA CN110745179B (en) | 2019-11-08 | 2019-11-08 | Steering structure for steer-by-wire vehicle and control method thereof |
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| CN110745179A CN110745179A (en) | 2020-02-04 |
| CN110745179B true CN110745179B (en) | 2023-11-24 |
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| CN111559423B (en) * | 2020-04-16 | 2022-10-25 | 南京金龙新能源汽车研究院有限公司 | Wire-controlled steering system and control strategy thereof |
| CN111746211B (en) * | 2020-06-15 | 2022-01-21 | 东风汽车集团有限公司 | In-wheel motor suspension and vehicle body connecting structure thereof |
| CN113997780B (en) * | 2021-12-09 | 2024-03-29 | 吉林大学 | Wire control chassis based on self-redundancy integrated wheel module and control method thereof |
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| CN107512305A (en) * | 2017-08-08 | 2017-12-26 | 南京汽车集团有限公司 | Wire-controlled steering system and its stability control method |
| CN108045444A (en) * | 2018-01-15 | 2018-05-18 | 吉林大学 | A kind of racing car empennage angle of attack adjustable systems and control method |
| CN108382456A (en) * | 2018-04-04 | 2018-08-10 | 辽宁工业大学 | A kind of pilotless automobile electric wire-control transfer and rotating direction control method |
| CN109050660A (en) * | 2018-09-05 | 2018-12-21 | 中信戴卡股份有限公司 | A kind of knuckle of automobile steering roller, transfer and automobile |
| CN110053660A (en) * | 2019-06-06 | 2019-07-26 | 吉林大学 | A kind of steering-by-wire mechanism and its control method for electric wheel drive vehicle |
| CN210734278U (en) * | 2019-11-08 | 2020-06-12 | 吉林大学 | Steering structure for steer-by-wire vehicle |
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