CN111923720B - Four-bar linkage type hub motor trailing arm suspension - Google Patents

Four-bar linkage type hub motor trailing arm suspension Download PDF

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Publication number
CN111923720B
CN111923720B CN202010480601.2A CN202010480601A CN111923720B CN 111923720 B CN111923720 B CN 111923720B CN 202010480601 A CN202010480601 A CN 202010480601A CN 111923720 B CN111923720 B CN 111923720B
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trailing arm
steering
arm
mounting bracket
steering knuckle
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CN111923720A (en
Inventor
赵松
赵艳辉
王美靖
施睿
赵春霞
马玉坡
王福鹏
廖桐舟
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China North Vehicle Research Institute
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China North Vehicle Research Institute
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/001—Suspension arms, e.g. constructional features
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • 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
    • B60K11/00—Arrangement in connection with cooling of propulsion units
    • B60K11/02—Arrangement in connection with cooling of propulsion units with liquid cooling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/0207—Wire harnesses
    • B60R16/0215—Protecting, fastening and routing means therefor
    • 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
    • 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
    • B62D7/20—Links, e.g. track rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K2001/003—Arrangement or mounting of electrical propulsion units with means for cooling the electrical propulsion units
    • B60K2001/006—Arrangement or mounting of electrical propulsion units with means for cooling the electrical propulsion units the electric motors

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to a running driving system of a hub motor of a light ultrahigh motor vehicle, and discloses a four-link type hub motor trailing arm suspension, which comprises a trailing arm mounting bracket, a trailing arm, a shock absorber, a steering motor, a hub motor, a brake, a steering knuckle and a link, wherein the trailing arm is of a thin-wall structure, and the pin shaft end of the trailing arm is coupled with the mounting bracket to form a revolute pair; the hub motor is arranged on the steering knuckle through a ball pin; the steering motor is connected to the steering knuckle; the steering knuckle is connected with the trailing arm to form a rotating pair; one end of the shock absorber is connected with the trailing arm mounting bracket to form a rotating pair, and the other end of the shock absorber is connected with the trailing arm to form a rotating pair; one end of the connecting rod is connected with the longitudinal arm mounting bracket to form a rotating pair, and the other end of the connecting rod is connected with the steering knuckle to form a rotating pair; the trailing arm mounting bracket, the trailing arm, the steering knuckle swinging arm and the connecting rod form a four-bar linkage. The suspension component is in modular design, interchangeability, energy consumption, low manufacturing cost and easy maintenance.

Description

Four-bar linkage type hub motor trailing arm suspension
Technical Field
The invention relates to a hub motor driving system of a light ultrahigh motor vehicle, belonging to the field of vehicle engineering.
Background
Trailing arm suspension among the prior art, there is the structure complicacy, and weight is light inadequately, and cable and water pipe etc. are not integrated enough simultaneously, orderly, cause cable and water pipe wearing and tearing scheduling problem easily, but special road conditions have proposed brand-new requirement to light-duty super high motor vehicle actuating system that traveles: super large suspension stroke; the vehicle posture adjusting function is achieved; the lateral rigidity is high; ultra-large driving torque output and the like, which cannot be met by the prior art. The invention with application number 201210323493.3 discloses a single trailing arm type independent suspension with a hydro-pneumatic spring, which is heavy in weight, large in volume and insufficient in bearing capacity, cannot integrate structures of a hub motor, a trailing arm bracket and a cable pipeline in application, is insufficient in longitudinal flexibility, influences the capability of a vehicle passing through geometric obstacles, and is not remarkable in the effects of automobile steering and braking; the utility model discloses a trailing arm assembly mounting structure behind trailing arm and suspension behind application number 201520481822.6 suspension discloses a back trailing arm of multi-link suspension, can't be to the fine integration of in-wheel motor, and trailing arm structure occupation space is big simultaneously, and weight is heavy.
Disclosure of Invention
In order to solve the above-mentioned problems, the inventors have invented a trailing arm suspension for a four-bar type in-wheel motor.
The invention provides a four-connecting-rod type hub motor trailing arm suspension, which comprises a trailing arm mounting bracket, a trailing arm, a shock absorber, a steering motor, a hub motor, a brake, a steering knuckle and a connecting rod, wherein a screw hole is reserved on the trailing arm mounting bracket and is used for being fixed on a vehicle body; the device is characterized in that the longitudinal arm is of a thin-wall structure, and the pin shaft end of the longitudinal arm is coupled with the mounting bracket to form a rotating pair, so that the longitudinal arm can swing around a vehicle body; the knuckle comprises a knuckle swing arm, a steering motor mounting surface, an upper ball stud mounting surface, a lower ball stud mounting surface, a knuckle, a longitudinal arm rotating surface and a main pin: the hub motor is arranged on the steering knuckle through a ball pin; the steering motor is connected to a steering knuckle through a bolt; the steering knuckle is connected with the longitudinal arm rotating surface and the longitudinal arm through the steering knuckle to form a rotating pair; one end of the shock absorber is connected with the trailing arm mounting bracket to form a rotating pair, and the other end of the shock absorber is connected with the trailing arm to form a rotating pair; one end of the connecting rod is connected with the trailing arm mounting bracket to form a rotating pair, and the other end of the connecting rod is connected with the steering knuckle to form a rotating pair; the trailing arm mounting bracket, the trailing arm, the knuckle swinging arm and the connecting rod form a four-bar linkage.
Preferably, the trailing arm mounting bracket is of a mirror image design.
Preferably, the trailing arm is of a hollow structure.
Preferably, the length of the link is just such that the caster angle of the wheel remains constant.
The unmanned vehicle hub motor driving control system comprises the suspension.
Preferably, the elastic force of the hydro-pneumatic spring is as follows:
Figure BDA0002517204130000021
wherein, the meaning of each parameter is as follows:
Fsrepresenting the elastic force of the hydro-pneumatic spring, and the unit is N;
Rgdenotes the gas constant, in units of J/(mol. k), preferably 8.314;
t represents the thermodynamic temperature in K;
mqthe unit of the mass of the gas in the hydro-pneumatic spring is Kg;
V0the initial volume of gas in the hydro-pneumatic spring is expressed in mm3；
DcThe diameter of the hydro-pneumatic spring piston is shown, and the unit is mm;
s represents the stroke of the hydro-pneumatic spring piston, and the unit is mm;
a represents a Van der Waals constant in atm. multidot.L2/mol2。
Compared with the prior art, the invention has the following beneficial effects:
(1) the longitudinal arm adopts a hollow structure, so that the weight of a suspension system is reduced, the lower bottom point mounting position of the shock absorber is convenient to reduce, and the occupation of the longitudinal space of the suspension is reduced.
(2) A four-bar linkage is formed by adding a connecting bar at the lower part of the trailing arm. When the suspension swings up and down in a large stroke, the connecting rod pulls the steering knuckle to rotate around the rotation center of the steering knuckle, the inclination angle of the kingpin of the wheel can be kept unchanged by designing the length of the connecting rod, the steering and braking performance of the suspension is improved, and the safety of a vehicle is improved.
(3) A steering motor is arranged at the ball head of the steering knuckle, and the wheels can rotate around the main pin through the rotation of the steering motor, so that the trailing arm suspension is added with a steering function.
(4) The hub motor and the brake are integrated by utilizing a hollow thin-wall longitudinal arm structure, so that the longitudinal arm type modularized integration of a form driving system is realized; by adopting the suspension, the vehicle has large bounce stroke, the trailing arm is suitable for large-range swinging, larger suspension lateral rigidity can be provided, the technical guarantee that the vehicle passes through ultrahigh geometric obstacles is realized, and meanwhile, the trailing arm suspension has a steering function.
(5) The modular design of the suspension components, interchangeability, energy consumption, low manufacturing cost and easy maintenance.
(6) A large amount of researches are carried out on the property selection of the hydro-pneumatic spring, the optimal property of the hydro-pneumatic spring is designed, and the ultrahigh passing performance of the vehicle is improved.
(7) According to the invention, through a large amount of research, the parameters are determined by the strategy adopted for the rear two-axle composite steering, so that the performance of the system is further improved.
Drawings
Fig. 1 shows a four-bar type in-wheel motor trailing arm suspension configuration.
Fig. 2 is a view of a knuckle structure.
FIG. 3 is a schematic view of a travel drive control system.
FIG. 4 is a schematic diagram of a hydro-pneumatic spring independent suspension system.
Fig. 5 is a schematic diagram of a hydro-pneumatic suspension hydraulic system.
Fig. 6 is a schematic diagram of the driving control structure of the present invention.
Fig. 7 is a schematic diagram of the differential matching relationship of the wheels.
The reference numbers are as follows: 1-a tire rim assembly, 2-a single longitudinal arm, 3-a longitudinal arm mounting bracket, 4-a hydro-pneumatic spring, 5-a steering gear, 6-a steering pull rod, 7-a lower cross arm, 8-an upper cross arm, 9-a hub motor, 10-a steering rocker arm, 11-a central pull rod and 12-a steering knuckle.
24-steering motor, 25-hub motor, 26-brake, 27-knuckle, 28-connecting rod, 7-1 knuckle swing arm, 7-2 steering motor mounting surface, 7-3 upper ball stud mounting surface, 7-4 lower ball stud mounting surface, 7-5 knuckle and trailing arm rotating surface and 7-6 king pin.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
As shown in fig. 1 and 2, a four-bar type in-wheel motor trailing arm suspension includes a trailing arm mounting bracket 3, a trailing arm 2, a hydro-pneumatic spring 4, a steering motor 24, an in-wheel motor 25, a brake 26, a knuckle 27, and a link 28. A screw hole is reserved in the longitudinal arm mounting bracket 3 and is used for mounting on a vehicle body; the trailing arm 2 is of a thin-wall structure, the wall thickness is 5mm, and the pin shaft end of the trailing arm is coupled with the mounting bracket 3 to form a rotating pair, so that the trailing arm can swing around a vehicle body; the longitudinal arm adopts a hollow structure, so that the weight of a suspension system is reduced, the lower extreme mounting position of the shock absorber is convenient to reduce, and the occupation of the longitudinal space of the suspension is reduced; the steering knuckle comprises a steering knuckle swinging arm 7-1, a steering motor mounting surface 7-2, an upper ball stud mounting surface 7-3, a lower ball stud mounting surface 7-4, a steering knuckle and longitudinal arm rotating surface 7-5 and a main pin 7-6; a knuckle swing arm 7-1 is rotatably connected with a rotating surface 7-5, the rotating surface 7-5 is connected with a steering motor mounting surface 7-2, an upper ball stud mounting surface 7-3 and a lower ball stud mounting surface 7-4 are arranged on the steering motor mounting surface 7-2, wherein the upper ball stud mounting surface 7-3 and the lower ball stud mounting surface 7-4 are symmetrical along the central axis of the rotating connection rotating surface 7-5, a main pin 7-6 is inserted into the lower ball stud mounting surface 7-4, and the upper ball stud mounting surface 7-3 is mounted in a hole; the hub motor 25 is mounted on a steering knuckle 27 through a ball stud; the steering motor 24 is connected to a steering knuckle 27 through a bolt, the steering motor is mounted at the ball head of the steering knuckle, and wheels can rotate around a main pin through rotation of the steering motor, so that the steering function of the trailing arm suspension is increased; the steering knuckle 27 is connected with the trailing arm 2 to form a rotating pair; one end of the shock absorber is connected with the trailing arm mounting bracket 3 to form a rotating pair, and the other end of the shock absorber is connected with the trailing arm 2 to form a rotating pair; one end of the connecting rod 28 is connected with the trailing arm mounting bracket 3 to form a rotating pair, and the other end is connected with the steering knuckle 7 to form a rotating pair. The trailing arm mounting bracket 3, the trailing arm 2, the knuckle swing arm 7-1 and the connecting rod 28 form a four-bar linkage, and the connecting rod is additionally arranged at the lower part of the trailing arm to form the four-bar linkage. The caster angle of the kingpin can be flexibly adjusted by adjusting the initial length of the connecting rod 28, the change characteristic of the caster angle of the kingpin can be optimized and optimized by adjusting the position of the connecting point of the connecting rod 28 and the mounting bracket 3, and the wheel alignment parameters can be read and adjusted freely. When the suspension swings up and down in a large stroke, the connecting rod pulls the steering knuckle to rotate around the rotation center of the steering knuckle, the inclination angle of the kingpin of the wheel can be kept in a reasonable range by designing the length of the connecting rod, the steering and braking performance of the suspension is favorably improved, and the safety of a vehicle is improved.
As a further preferred feature of the above embodiment, the trailing arm 2 and the mounting bracket 3 are mirror images. The longitudinal arm mounting bracket is designed through a mirror image structure, and can be matched with the longitudinal arm suspension devices on the left side and the right side of the vehicle at the same time, so that the universal interchange performance of vehicle parts is realized, and the maintainability guarantee performance of the vehicle is improved.
Preferably, the trailing arm is of a hollow structure. The hydro-pneumatic spring connecting end is designed in a hollow structure of the trailing arm, so that the integration of the trailing arm and the shock absorber is realized, and the structure is compact. The hub motor and the brake are integrated by utilizing a hollow thin-wall longitudinal arm structure, so that the longitudinal arm type modularized integration of a form driving system is realized; by adopting the suspension, the vehicle has large bounce stroke, the trailing arm is suitable for large-range swinging, larger suspension lateral rigidity can be provided, the technical guarantee that the vehicle passes through ultrahigh geometric obstacles is realized, and meanwhile, the trailing arm suspension has a steering function.
Preferably, the length of the link 28 is such as to maintain a reasonable variation range in caster of the wheel.
Compared with the prior art, the invention has the following beneficial effects:
(1) the longitudinal arm adopts a hollow structure, so that the weight of a suspension system is reduced, the lower bottom point mounting position of the shock absorber is convenient to reduce, and the occupation of the longitudinal space of the suspension is reduced.
(2) A four-bar linkage is formed by adding a connecting bar at the lower part of the trailing arm. When the suspension swings up and down in a large stroke, the connecting rod pulls the steering knuckle to rotate around the rotation center of the steering knuckle, the inclination angle of the kingpin of the wheel can be kept unchanged by designing the length of the connecting rod, the steering and braking performance of the suspension is improved, and the safety of a vehicle is improved.
(3) A steering motor is arranged at the ball head of the steering knuckle, and the wheels can rotate around the main pin through the rotation of the steering motor, so that the trailing arm suspension is added with a steering function.
(4) The hub motor and the brake are integrated by utilizing a hollow thin-wall longitudinal arm structure, so that the longitudinal arm type modularized integration of a form driving system is realized; by adopting the suspension, the vehicle has large bounce stroke, the trailing arm is suitable for large-range swinging, larger suspension lateral rigidity can be provided, the technical guarantee that the vehicle passes through ultrahigh geometric obstacles is realized, and meanwhile, the trailing arm suspension has a steering function.
(5) The modular design of the suspension components, interchangeability, energy consumption, low manufacturing cost and easy maintenance.
3-4 illustrate a (single trailing arm axle) unmanned vehicle in-wheel motor high mobility ride drive steering system including the single trailing arm in-wheel motor drive module described above, which is particularly preferred for use in light ultra-high powered vehicles, preferably requiring an average off-road speed of 40 km/h; the maximum climbing gradient is not lower than 35 degrees; the maximum side-tipping running gradient is not less than 25 degrees; the width of the crossing trench is not less than 1.4 meters; the height of the upper and lower vertical barriers is not less than 0.9 m.
As shown in fig. 4 and 5, the invention provides a driving control system for driving an unmanned vehicle in-wheel motor, the driving control system adopts a technical scheme that an 8 × 8 independent hydro-pneumatic spring suspension is matched with a distributed driving of the in-wheel motor, a first bridge and a second bridge are single-trailing-arm bridges, a third bridge and a fourth bridge are double-cross-arm bridges, so that optimal attachment and optimal driving torque distribution of wheels under the condition of geometric obstacles on a cross-country road surface of the vehicle can be realized, and further, ultrahigh passing performance of the vehicle is realized; the first axle and the second axle of the driving system adopt a single trailing arm suspension guide mechanism, so that the lateral rigidity of a vehicle suspension system is greatly improved, the vehicle body rollover and sideslip in the process of passing through geometric obstacles of the vehicle are effectively avoided, and the unconventional geometric obstacle crossing capability of the vehicle is realized; the third axle and the fourth axle of the driving system adopt a double-wishbone suspension guide structure, the matched steering system has the vehicle rear wheel steering capacity, the matched vehicle differential control function can realize flexible transverse deflection motion of the vehicle, and the cross-country maneuvering performance of the vehicle is greatly improved.
By adopting the mode that the 1, 2 single trailing arm structural form drive axle and the third, fourth and double transverse arm structural form are mutually combined, the defects of the prior art can be overcome by the operating system, and the operating system can meet the requirements of light motor vehicles.
As shown in fig. 4, the single trailing arm bridge comprises a tire and rim assembly 1, a single trailing arm 2, a trailing arm mounting bracket 3, a hydro-pneumatic spring 4 and a hub motor 9; the double-wishbone bridge comprises an upper wishbone 8, a lower wishbone 7, a steering knuckle 12, a hub motor 9 and a steering gear 5. The driving system is matched with a large-torque hub motor, so that climbing and passing of a vehicle on an oversized longitudinal slope and an ultrahigh vertical obstacle can be realized, and the tire and rim assembly 1 is in threaded connection with the output end of the hub motor 9; the tire end of the single longitudinal arm 2 is fixedly connected with a shell of a hub motor 9 in a threaded manner, and the vehicle body end is fastened on a vehicle body through a longitudinal arm mounting bracket 3, so that the longitudinal arm can swing around the transverse axis of the vehicle body by a large angle; the upper cross arm 8 and the lower cross arm 7 are connected with the vehicle body through pin shafts, the cross arm can swing around the vehicle body at a transverse large angle, the ball end of the cross arm is connected with the steering knuckle 12 through a ball hinge at a large angle of 30 degrees (preferably more than 30 degrees), and a steering knuckle deflection axis is formed. The steering knuckle 12 is provided with a steering system connecting point, and the steering knuckle 12 can deflect around the axis of the steering knuckle 12 by being driven by a steering system, so that a steering function is realized; the knuckle 12 is fastened with the in-wheel motor 9 by bolts. The upper fulcrum of the hydro-pneumatic spring 4 is hinged to the vehicle body in a ball joint bearing mode, the lower dead center is respectively connected with the single longitudinal arm 2 and the lower cross arm 7 through a pin shaft, and elastic force and damping force are transmitted between the single longitudinal arm and the lower cross arm to achieve wheel bounce attenuation; the shell of the steering gear 5 is arranged on a vehicle body, the output end drives a steering rocker arm 10 to realize the swinging of the rocker arm relative to the vehicle body, and the middle of the rocker arm realizes the motion coupling through a central pull rod 11; the two ends of the steering pull rod 6 are respectively connected with a steering knuckle 12 and a steering rocker arm 10, and the steering knuckle and the steering rocker arm 10 are driven by the steering rocker arm 10 to drive a hub motor and a tire rim to realize corner deflection. The driving system is matched with the hydro-pneumatic spring and is coordinated with the hydraulic driving system, so that the height, pitching, side tilting and inclined tilting adjustment of the vehicle posture can be realized; the system adopts the fourth axle mechanical steering and matches the vehicle differential steering function, and can realize the vehicle center steering and pivot steering functions; the mechanical steering can realize the flexible transverse maneuvering of the vehicle during high-speed maneuvering.
The driving form belongs to a composite structure form, and the single-trailing-arm suspension structure form has high transverse rigidity, strong longitudinal passing capacity and prominent obstacle crossing capacity; the double-cross-arm suspension is free and flexible in structure, has a mechanical steering function interface, and is strong in steering and turning capacity; the distributed driving hub motor has the advantages of large torque density, more controllable degrees of freedom, strong controllability, flexible and changeable output combination and the like. The system has the advantages of high driving power density, high driving torque density, low system natural frequency, strong transverse stability and high cross-country obstacle crossing capability. Preferably, the arrangement scheme of the trailing arms of the driving system is that the first axle swings forwards and the second axle swings backwards, the approach angle of the vehicle at 90 degrees can be realized, large-area adhesion of wheels of the first axle of the vehicle can be realized by combining the large-stroke low-offset-frequency suspension parameter design, and the ground impact function can be effectively reduced by the wheels of the second, third and fourth axles of the vehicle.
Preferably, the steering gear adopts a drive-by-wire electric steering gear, the integration level is high, and the steer-by-wire function can be realized.
The invention utilizes the distributed driving hub motor to match with the hydro-pneumatic spring for independent suspension, and adopts the hub motor for driving to eliminate the limitation of the traditional transmission device, so that the freedom degree of suspension motion is increased, and the ultra-large stroke vehicle height adjustment can be realized by matching with the hydro-pneumatic spring. The oil cavities of the two-axle hydro-pneumatic spring and the three-axle four-axle hydro-pneumatic spring are communicated through pipelines, so that the vehicle achieves ultrahigh geometric obstacle passing capacity and high-speed off-road surface maneuvering capacity.
One invention point of the scheme is a parameter control method for hydro-pneumatic spring interconnection. In practice, the characteristics of the hydro-pneumatic spring (elastic force, damping force, etc.) are very important, for example, poor hydro-pneumatic spring characteristics can lead to: the smoothness is poor, the service life of the vehicle-mounted equipment is shortened, and sealing parts and fastening parts are loosened; secondly, the vehicle-mounted precision equipment cannot be used; the adhesion effect of the wheels and the ground is reduced, and the safety of the vehicle is reduced; excessive and excessive vibration can damage the suspension and the vehicle body, and the safety of the vehicle is reduced. It is therefore necessary to determine the characteristics of the hydro-pneumatic spring 4 in an optimal way.
The characteristic determination method of the hydro-pneumatic spring comprises the following steps:
Figure BDA0002517204130000061
wherein P is the absolute pressure of the gas in the hydro-pneumatic spring and is obtained by calculation;
t is thermodynamic temperature and is measured by a temperature sensor; vqCalculating the volume of the gas in the hydro-pneumatic spring;
Rgis a gas constant, preferably 8.314J/(mol. k);
a and b are Van der Waals constants and are obtained through experiments;
mqthe mass of the gas in the hydro-pneumatic spring is calculated by the following formula:
Figure BDA0002517204130000062
in the formula:
Figure BDA0002517204130000063
C＝-36bRgT0+72P0b2+8a
M＝Rg 2T0 2(4bRgT0+12P0b2-a)
N＝4P0(3P0b3RgT0-5abRgT0+b4P0 2+2ab2P0+a2)
P0、V0、T0respectively, the initial gas pressure (unit is MPa) and the volume (unit is mm)3) And temperature (in K), where V0To design value, P0The calculation method comprises the following steps:
Figure BDA0002517204130000064
where m represents the sprung mass of the vehicle, g is the weight acceleration, i is the guide lever ratio, DcThe diameter of the oil-gas spring oil chamber piston is shown, and Ac is the area of the piston.
The volume change of the hydro-pneumatic spring air chamber is as follows:
Figure BDA0002517204130000071
where s is the spring piston stroke.
Then at any stroke, the gas volume is:
Figure BDA0002517204130000072
according to the above formulas, the elastic force of the hydro-pneumatic spring is:
Figure BDA0002517204130000073
under the condition that two oil-gas spring oil-filled cavities are connected in series, the elastic force of the spring is
Figure BDA0002517204130000074
In the formula s1、s2For the stroke of springs in series
During the movement of the spring, the relationship between the flow rate of oil flowing through the throttling hole and the pressure difference between the front and the rear of the damping hole is as follows:
Figure BDA0002517204130000075
Cdthe value range of the flow coefficient is defined,
Figure BDA0002517204130000076
l is the orifice length, ReIs Reynolds number, characteristic length in calculating reynolds number, unit is mm;
the system generates damping force of
Figure BDA0002517204130000077
The optimal relational expression of the characteristics of the hydro-pneumatic spring is determined through a great deal of research, and the optimal relational expression is used as an important reference basis for selecting the driving control system for the hub motor running of the unmanned vehicle.
As an invention point, the invention provides that the following strategy is adopted for determining the parameters of the rear two-axle composite steering:
referring to fig. 7, B is the distance between the intersection points of the kingpin axes on both sides and the ground, preferably 1640 mm; l is1、L2、L3、L4Calculating the distance from each axis to the instant center by a system; r1in、R2in、R3in、R4inThe turning radius of the wheel at the inner side of each shaft is calculated by the system; r1out、R2out、R3out、R4outThe turning radius of the wheel at the outer side of each shaft is calculated by a system; alpha is the wheel corner at the outer side of the third axle and is measured by a corner sensor; beta is the wheel corner at the inner side of the third axle and is measured by a corner sensor; delta is the corner of the wheel at the outer side of the fourth axle and is measured by a corner sensor; gamma is the wheel corner at the inner side of the fourth axle and is measured by a corner sensor; and x and y are the distances from the instant center to the inner wheel and the center of mass respectively, and are calculated by the system.
ω1in、ω2in、ω3in、ω4inFor the angular velocity, omega, of the wheel inside each axle1out、ω2out、ω3out、ω4outFor the angular velocity of the wheel outside each axle, m, n, l are the wheelbases of each axle, preferably 950,900,950mm, R4outR, derived from the geometric motion relationship:
Figure BDA0002517204130000081
Figure BDA0002517204130000082
Figure BDA0002517204130000083
Figure BDA0002517204130000084
Figure BDA0002517204130000085
Figure BDA0002517204130000086
Figure BDA0002517204130000087
through the determined parameters, each parameter can be accurately predicted, strategy guidance can be provided for the obstacle crossing of the vehicle under the unmanned condition, the control logic of the obstacle crossing of the unmanned vehicle is simplified, the reliability of the vehicle in the complex electromagnetic environment is improved, and the method is a technical basis of vehicle global application.
As can be seen from fig. 6 and 7, the angular velocity of each wheel has a definite functional relationship with the track width, the wheel base, the turning radius and the turning angle. The wheel track and wheel base parameters are the whole vehicle parameters and are constants. The upper computer instruction received by the steering ECU is generally curvature or corner, so that the differential matching relation among the wheels can be obtained by utilizing an Ackerman differential steering model.
The parameters are specified below:
Figure BDA0002517204130000091
Figure BDA0002517204130000101
the invention relates to a driving control system for the hub motor of an unmanned vehicle, which has the following advantages:
(1) the running driving system adopts the technical scheme that an 8 multiplied by 8 independent hydro-pneumatic spring suspension is matched with a distributed driving of a hub motor, so that optimal attachment and optimal driving torque distribution of wheels under the conditions of a cross-country road and geometric obstacles of a vehicle can be realized, and further, the ultrahigh passing performance of the vehicle is realized.
(2) The front two axles of the driving system adopt a single trailing arm suspension guide mechanism, so that the lateral rigidity of the vehicle suspension system is greatly improved, the vehicle body rollover and sideslip in the process of passing through geometric obstacles are effectively avoided, and the unconventional geometric obstacle crossing capability of the vehicle is realized.
(3) The third axle and the fourth axle of the driving system adopt a double-wishbone suspension guide structure, the matched steering system has the vehicle rear wheel steering capacity, the matched vehicle differential control function can realize flexible transverse deflection motion of the vehicle, and the cross-country maneuvering performance of the vehicle is greatly improved.
(4) The arrangement scheme of the longitudinal arms of the driving system is that the first axle swings forwards and the second axle swings backwards, the 90-degree approach angle of the vehicle is realized, the large-stroke low-offset-frequency suspension parameter design is combined, the large-area attachment of wheels of the first axle of the vehicle can be realized, and the ground impact function of the wheels of the second, third and fourth axles is effectively reduced.
(5) The driving system is matched with the hydro-pneumatic spring and is coordinated with the hydraulic driving system, so that the height, pitching, side-tipping and inclining adjustment of the vehicle posture can be realized.
(6) The system adopts the fourth axle mechanical steering and matches the vehicle differential steering function, and can realize the vehicle center steering and pivot steering functions; the mechanical steering can realize the flexible transverse maneuvering of the vehicle during high-speed maneuvering.
(7) The steering gear adopts the drive-by-wire steering gear, the integration level is high, and the steer-by-wire function can be realized.
(8) A large amount of researches are carried out on the property selection of the hydro-pneumatic spring, the optimal property of the hydro-pneumatic spring is designed, and the ultrahigh passing performance of the vehicle is improved.
Although the present invention has been described with reference to the preferred embodiments, it is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (3)

1. A four-bar linkage type hub motor trailing arm suspension comprises a trailing arm mounting bracket, a trailing arm, a shock absorber, a steering motor, a hub motor, a brake, a steering knuckle and a connecting bar, wherein a screw hole is reserved in the trailing arm mounting bracket and is used for being fixed on a vehicle body; the device is characterized in that the pin shaft end of the longitudinal arm is coupled with the mounting bracket to form a rotating pair, so that the longitudinal arm can swing around a vehicle body; the knuckle comprises a knuckle swing arm, a steering motor mounting surface, an upper ball stud mounting surface, a lower ball stud mounting surface, a knuckle, a longitudinal arm rotating surface and a main pin: the hub motor is arranged on the steering knuckle through a ball pin; the steering motor is connected to a steering knuckle through a bolt; the steering knuckle is connected with the longitudinal arm rotating surface and the longitudinal arm through the steering knuckle to form a rotating pair; one end of the shock absorber is connected with the trailing arm mounting bracket to form a rotating pair, and the other end of the shock absorber is connected with the trailing arm to form a rotating pair; one end of the connecting rod is connected with the trailing arm mounting bracket to form a rotating pair, and the other end of the connecting rod is connected with the steering knuckle to form a rotating pair; the longitudinal arm mounting bracket, the longitudinal arm, the steering knuckle swinging arm and the connecting rod form a four-bar linkage;
the longitudinal arm mounting bracket is designed in a mirror image structure;
the longitudinal arm is of a hollow structure;
the length of the connecting rod just keeps the inclination angle of the kingpin of the wheel unchanged.
2. An unmanned vehicle in-wheel motor drive steering system comprising the suspension of claim 1.
3. The system of claim 2, wherein the hydro-pneumatic spring force is:
Figure FDA0003278773220000011
wherein, the meaning of each parameter is as follows:
Fsrepresenting the elastic force of the hydro-pneumatic spring, and the unit is N;
Rgrepresents a gas constant in units of J/(mol. k);
t represents the thermodynamic temperature in K;
mqthe unit of the mass of the gas in the hydro-pneumatic spring is Kg;
V0the initial volume of gas in the hydro-pneumatic spring is expressed in mm3；
DcThe diameter of the hydro-pneumatic spring piston is shown, and the unit is mm;
s represents the stroke of the hydro-pneumatic spring piston, and the unit is mm;
b represents a van der Waals constant in L/mol;
a represents a Van der Waals constant in atm. multidot.L2/mol2。
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