CN112896146A - Single-wheel steering delay transmission device and method for active side-tipping vehicle - Google Patents
Single-wheel steering delay transmission device and method for active side-tipping vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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Abstract
The invention relates to a single-wheel steering delay transmission device and a method for an active roll vehicle, belonging to the technical field of vehicle chassis, in particular to the steering control technical category of the active roll vehicle; the single-wheel steering delay transmission method for the active roll vehicle comprises the following steps: the steering delay control is carried out on the steering wheel, the synchronization of the vehicle steering and the vehicle body side-tipping movement is realized, the damping constraint is carried out on the steering wheel, and the stability of the vehicle running direction is ensured; the single-wheel steering time-delay transmission device of the active roll vehicle comprises: the automobile body, a steering shaft, a steering arm, a steering wheel, a swing rod, a connecting rod, a steering gear, a time delay device and a damper are sequentially connected in series, the synchronous control of the steering of the automobile body and the side-tipping movement of the automobile body is realized through steering time delay, the steering wheel and the automobile body are connected through the damper, the damping constraint is implemented on the steering wheel, the stability of the running direction of the automobile is kept, and the automobile body side-tipping movement control method is applied to an active side-tipping automobile running control technology.
Description
Technical Field
The invention relates to a single-wheel steering delay transmission device and a single-wheel steering delay transmission method for an active roll vehicle, belongs to the technical field of vehicle chassis, and particularly relates to the technical field of steering control of the active roll vehicle.
Background
The active roll vehicle improves the stability, the traffic speed and the safety of the vehicle when the vehicle turns on a curve by controlling the degree of the vehicle to incline towards the inner side of the curve, and a roll control system of the vehicle can enable the vehicle to automatically incline for a certain angle when the vehicle turns over the curve to generate a balance moment to resist the centrifugal force applied to the vehicle so as to keep the stable running posture of a mini-vehicle with a small wheel track or a vehicle with a high gravity center.
The invention discloses a method for controlling the active roll of a vehicle, which comprises the steps of firstly executing roll action after a steering command is sent out when the vehicle runs and turns, executing steering action after a time delay is set for a set time, realizing that the vehicle rolls and the time delay steering mode enters the curve, eliminating the negative effect of the centrifugal force on the instant impact action of the human body when the vehicle enters the curve, returning to zero through vehicle roll resetting, and returning to the positive mode through steering, wherein the key technical measure is to realize the synchronous control of the vehicle turning and the vehicle body roll movement through steering delay, and improve the driving smoothness and the riding comfort of the vehicle on the basis of ensuring the running safety of the vehicle, the method is applied to the driving control technology of the active roll vehicle.
The active side-tipping tricycle belongs to a small-wheel-pitch miniature vehicle, the vehicle is controlled by two wheels to tip, a single wheel is arranged in the middle, the vehicle self-adapts to tip, and the side-tipping driving and control power consumption is low because the tip axis is positioned in the middle plane of the single wheel; when the configuration of single front wheel steering and double rear wheel driving is adopted, the active side-tipping vehicle with the positive three-wheel characteristic is formed; when the single-rear-wheel steering and double-front-wheel driving configuration is adopted, an active side-tipping vehicle with the reverse three-wheel characteristic is formed, and the single-wheel steering delay transmission device and the method have practical application values in exploration and research.
Disclosure of Invention
The invention aims to provide a single-wheel steering delay transmission device and a method for an active side-tipping vehicle.
The technical scheme adopted for achieving the aim of the invention comprises the following steps:
the single-wheel steering delay transmission method for the active roll vehicle comprises the following steps: the method is characterized in that steering delay control is implemented on a steering wheel, synchronization of vehicle steering and vehicle body side-tipping movement is realized, damping constraint is implemented on the steering wheel, and stability of the vehicle running direction is guaranteed, and the specific technical measures are as follows:
firstly, a steering device, a time delay device and a steering wheel are connected in series in sequence, and the synchronous control of the vehicle steering and the vehicle body side-tipping movement is realized through steering time delay;
secondly, the steering wheel and the vehicle body are connected through the damper, damping constraint is carried out on the steering wheel, and stability of the vehicle in the running direction is kept.
The single-wheel steering time-delay transmission device of the active roll vehicle comprises: the steering mechanism comprises a vehicle body (10), a steering shaft (11), a steering arm (12), a steering wheel (13), a swing rod (14), a connecting rod (15), a steering gear (20), a time delay device (30) and a damper (40), wherein the steering shaft (11) is rotationally connected with the vehicle body (10), a rotating axis L is positioned in a vertical plane of the vehicle body, an inclination angle delta is formed between the L in the vertical plane of the vehicle body and a vertical plane of the vehicle body, the steering arm (12) is vertically and fixedly connected with the steering shaft (11), the steering wheel (13) is rotationally connected with the lower end of the steering shaft (11), the rotating axis of the steering wheel is vertically staggered with the L, one end of the swing rod (14) is rotationally connected with the vehicle body (10), the rotating axis is parallel to the L, the other end of the swing rod (14) is connected with one end of the time delay device (30) through a ball hinge, the other end of the time delay device (30) is connected with a point ball hinge on the steering arm (12), the steering gear (, The other end is connected with a point ball hinge on the swing rod (14); one end of the damper (40) is connected with a spherical hinge of the vehicle body (10), and the other end is connected with a point spherical hinge on the steering arm (12) to form the active side-tipping vehicle single-wheel steering delay transmission device.
Wherein: the steering gear (20) is a rack and pinion steering gear, or a circulating ball type steering gear, or a worm crank pin type steering gear, the delayer (30) is a displacement type mechanical buffer or a displacement type mechanical delayer, the damper (40) is a piston type fluid damper or a linear friction damper, and the ball hinge is a rod end joint bearing or a centripetal joint bearing.
In the active roll vehicle single-wheel steering time-delay transmission device: steering control angle input by steering gear input shaft
The swing rod obtains a steering driving angle after being decelerated by the steering gear and transmitted by a connecting rod (15)
After the delayer delays the time by delta t, the steering arm (12) obtains a steering angle
The turning angle of the steering wheel (13) is equal to the steering angle theta, so that the vehicle steering is realized; at the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
The speed sensor reads in the instantaneous running speed v of the vehicle, the vehicle body roll angle beta is solved by the vehicle-mounted computer and is transmitted to the controller, and the roll mechanism is driven by the actuator to obtain the vehicle body roll angle beta, so that the vehicle body can synchronously roll; a damper (40) is connected between the steering wheel (13) and the vehicle body (10), so that steering impact is reduced, the interference of the ground to the steering wheel (13) is eliminated, and the stability of the vehicle running direction is kept.
In the above-mentioned active roll vehicle single-wheel steering delay transmission device: the time delay device (30) and the connecting rod (15) are unchanged in the exchange installation position and the connection mode, and the time delay device comprises: a steering shaft (11) is rotationally connected with a vehicle body (10), a rotating axis L is positioned in a vehicle body vertical plane, an inclination angle delta is formed between the L and a vehicle body vertical plane in the vehicle body vertical plane, a steering arm (12) is vertically and fixedly connected with the steering shaft (11), a steering wheel (13) is rotationally connected with the lower end of the steering shaft (11), the rotating axis of the steering wheel is vertically staggered with the L, one end of a swing rod (14) is rotationally connected with the vehicle body (10), the rotating axis is parallel to the L, the other end of the swing rod (14) is connected with one end of a connecting rod (15) through a ball hinge, the other end of the connecting rod (15) is connected with a point ball hinge on the steering arm (12), a steering device (20) is fixed on the vehicle body (10), one end of a time delay device (30) is connected with an output shaft of the steering device (20) through a ball hinge, the other end of the time delay device is connected with a point, The other end is connected with a point ball hinge on the steering arm (12) to form a connecting rod front-mounted type active side-tipping vehicle single-wheel steering delay transmission device.
In the front-mounted connecting rod type active side-tipping vehicle single-wheel steering time-delay transmission device: steering control angle input by steering gear input shaft
After the speed is reduced by the steering gear and the time delay delta t is delayed by the time delay device, the swing rod obtains a steering driving angle
The steering angle is obtained by the transmission of a connecting rod (15) and a steering arm (12)
The turning angle of the steering wheel (13) is equal to the steering angle theta, so that the vehicle steering is realized; at the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
The speed sensor reads in the instantaneous running speed v of the vehicle, the vehicle body roll angle beta is solved by the vehicle-mounted computer and is transmitted to the controller, and the roll mechanism is driven by the actuator to obtain the vehicle body roll angle beta, so that the vehicle body can synchronously roll; a damper (40) is connected between the steering wheel (13) and the vehicle body (10), so that steering impact is reduced, the interference of the ground to the steering wheel (13) is eliminated, and the stability of the vehicle running direction is kept.
The invention has the beneficial effects that the provided single-wheel steering delay transmission device and method for the active side-tipping vehicle implement steering delay control on the steering wheel, realize synchronization of vehicle steering and vehicle body side-tipping movement, implement damping constraint on the steering wheel, ensure the stability of the vehicle running direction, and are applied to an active side-tipping tricycle.
Drawings
FIG. 1 is a schematic view of a single-wheel steering time-delay transmission;
FIG. 2 is a schematic diagram of a single wheel positioning of a steering wheel;
FIG. 3 is a schematic view of a single-turn delay drive for outputting rotary motion from the steering gear;
FIG. 4 is a schematic view of a link forward type single-wheel steering delay transmission device;
FIG. 5 is a schematic view of a link-forward single-wheel steering delay transmission for outputting rotary motion of a steering gear;
in the figure: 10-a vehicle body, 11-a steering shaft, 12-a steering arm, 13-a steering wheel, 14-a swing rod, 15-a connecting rod, 20-a steering gear, 30-a time delay device and 40-a damper.
Detailed Description
Embodiments of the invention are described below with reference to the accompanying drawings:
the single wheel steering delay drive schematic of the active roll vehicle shown in fig. 1, single wheel steering delay drive, comprising: the steering mechanism comprises a vehicle body (10), a steering shaft (11), a steering arm (12), a steering wheel (13), a swing rod (14), a connecting rod (15), a steering gear (20), a time delay device (30) and a damper (40), wherein the steering shaft (11) is rotationally connected with the vehicle body (10), a rotating axis L is positioned in a vertical plane of the vehicle body, an inclination angle delta is formed between the L in the vertical plane of the vehicle body and a vertical plane of the vehicle body, the steering arm (12) is vertically and fixedly connected with the steering shaft (11), the steering wheel (13) is rotationally connected with the lower end of the steering shaft (11), the rotating axis of the steering wheel is vertically staggered with the L, the length e of a common vertical line is shown in figure 2, one end of the swing rod (14) is rotationally connected with the vehicle body (10), the rotating axis is parallel to the L, the other end of the swing rod (14) is connected with one end of the time delay device (30) through a ball hinge, the other end of the time delay device, one end of the connecting rod (15) is connected with an output shaft of the steering gear (20) through a ball hinge, and the other end of the connecting rod is connected with a point ball hinge on the swing rod (14); one end of the damper (40) is connected with a spherical hinge of the vehicle body (10), and the other end is connected with a point spherical hinge on the steering arm (12) to form the active side-tipping vehicle single-wheel steering delay transmission device. The steering return and straight-line running stability of the vehicle are realized by retroversion of a rotating axis L of the steering shaft, an inclination angle delta of 5-10 degrees, offset of a rotating axis of a steering wheel and a distance e of 10-50 mm.
Wherein: the steering gear (20) adopts a rack and pinion steering gear (as shown in figure 1), a rack output shaft of the steering gear (20) outputs reciprocating linear motion, and the reciprocating linear motion is transmitted and converted into the swing of the swing rod (14) through the connecting rod (15); the steering gear (20) is a circulating ball type steering gear or a worm crank pin type steering gear (as shown in figure 3), an output shaft of the steering gear outputs rotary motion, and the rotary motion is transmitted to swing of the swing rod (14) through a connecting rod; the delayer (30) selects a small displacement type mechanical buffer or a displacement type mechanical delayer, and transmits the swing time delay delta t of the swing rod (14) to the steering motion of the steering arm (12); the damper (40) is a piston type fluid damper or a linear friction damper and is used for filtering the interference from the road surface or the vehicle to the steering wheel and keeping the stability of the driving direction of the vehicle; the tyre of the steering wheel (13) is selected from a motorcycle tyre GB 518-2007 with a circular arc-shaped section, and the ball hinge is selected from a rod end knuckle bearing GB/T9161-2001 or a radial knuckle bearing GB/T9163-2001.
In the single-wheel steering time-delay transmission device of the active roll vehicle shown in figures 1 and 3: steering control angle input by steering gear input shaft
The swing rod obtains a steering driving angle after being decelerated by the steering gear and transmitted by a connecting rod (15)
After the delayer delays the time by delta t, the steering arm (12) obtains a steering angle
The turning angle of the steering wheel (13) is equal to the steering angle theta, so that the vehicle steering is realized; at the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
The speed sensor reads in the instantaneous running speed v of the vehicle, and the vehicle-mounted computer calculates: steering angle
The turning radius r is Z/tan theta, and the curve driving force balance condition is as follows: mg × tan β ═ mv2R, wherein: the vehicle mass m, the wheel base Z and the gravity acceleration g are determined by tan beta ═ v2Solving a vehicle body roll angle beta, transmitting the vehicle body roll angle beta to a controller, and driving a roll mechanism through an actuator to obtain the vehicle body roll angle beta so as to realize the synchronous roll motion of the vehicle body; steering wheel (13) anda damper (40) is connected between the vehicle bodies (10), so that steering impact is reduced, the interference of the ground to the steering wheel (13) is eliminated, and the stability of the vehicle running direction is kept.
Fig. 4 is a schematic view of a link forward type single-wheel steering delay transmission device, wherein in the single-wheel steering delay transmission device of the active roll vehicle, the link forward type single-wheel steering delay transmission device comprises the following components: the time delay device (30) and the connecting rod (15) are unchanged in the exchange installation position and the connection mode, and the time delay device comprises: a steering shaft (11) is rotationally connected with a vehicle body (10), a rotating axis L is positioned in a vehicle body vertical plane, an inclination angle delta is formed between the L and a vehicle body vertical plane in the vehicle body vertical plane, a steering arm (12) is vertically and fixedly connected with the steering shaft (11), a steering wheel (13) is rotationally connected with the lower end of the steering shaft (11), the rotating axis of the steering wheel is vertically staggered with the L, one end of a swing rod (14) is rotationally connected with the vehicle body (10), the rotating axis is parallel to the L, the other end of the swing rod (14) is connected with one end of a connecting rod (15) through a ball hinge, the other end of the connecting rod (15) is connected with a point ball hinge on the steering arm (12), a steering device (20) is fixed on the vehicle body (10), one end of a time delay device (30) is connected with an output shaft of the steering device (20) through a ball hinge, the other end of the time delay device is connected with a point, The other end is connected with a point ball hinge on the steering arm (12) to form a connecting rod front-mounted type active side-tipping vehicle single-wheel steering delay transmission device.
Wherein: the delayer (30) is a small displacement type mechanical buffer or a displacement type mechanical delayer and is used for motion transmission after the time delay of delta t; the steering gear (20) adopts a rack and pinion steering gear (as shown in figure 4), a rack output shaft of the steering gear (20) outputs reciprocating linear motion, the reciprocating linear motion is transmitted and converted into the swing of the swing rod (14) after being delayed by a delayer by delta t, and the swing of the swing rod (14) is transmitted to the steering motion of the steering arm (12) through the connecting rod (15); the steering gear (20) is a circulating ball type steering gear or a worm crank pin type steering gear (as shown in figure 5), an output shaft of the steering gear outputs rotary motion, the rotary motion is transmitted to the swing of the swing rod (14) after being delayed by delta t through a delayer, and the swing of the swing rod (14) is transmitted to the steering motion of the steering arm (12) through a connecting rod; the damper (40) is a piston type fluid damper or a linear friction damper and is used for filtering the interference from the road surface or the vehicle to the steering wheel and keeping the stability of the driving direction of the vehicle; the tyre of the steering wheel (13) is selected from a motorcycle tyre GB 518-2007 with a circular arc-shaped section, and the ball hinge is selected from a rod end knuckle bearing GB/T9161-2001 or a radial knuckle bearing GB/T9163-2001.
In the single-wheel steering time-delay transmission device of the front-link type active roll vehicle shown in the figures 4 and 5: steering control angle input by steering gear input shaft
After the speed is reduced by the steering gear and the time delay delta t is delayed by the time delay device, the swing rod obtains a steering driving angle
The steering angle is obtained by the transmission of a connecting rod (15) and a steering arm (12)
The turning angle of the steering wheel (13) is equal to the steering angle theta, so that the vehicle steering is realized; at the same time, an angle sensor mounted on an input shaft of the steering gear reads a steering control angle
The speed sensor reads in the instantaneous running speed v of the vehicle, and the vehicle-mounted computer calculates: steering angle
The turning radius r is Z/tan theta, and the curve driving force balance condition is as follows: mg × tan β ═ mv2R, wherein: the vehicle mass m, the wheel base Z and the gravity acceleration g are determined by tan beta ═ v2Solving a vehicle body roll angle beta, transmitting the vehicle body roll angle beta to a controller, and driving a roll mechanism through an actuator to obtain the vehicle body roll angle beta so as to realize the synchronous roll motion of the vehicle body; a damper (40) is connected between the steering wheel (13) and the vehicle body (10), so that steering impact is reduced, the interference of the ground to the steering wheel (13) is eliminated, and the stability of the vehicle running direction is kept.
The single-wheel steering delay transmission method for the active roll vehicle comprises the following steps: the method is characterized in that steering delay control is implemented on a steering wheel, synchronization of vehicle steering and vehicle body side-tipping movement is realized, damping constraint is implemented on the steering wheel, and stability of the vehicle running direction is guaranteed, and the specific technical measures are as follows:
firstly, a steering device, a time delay device and a steering wheel are connected in series in sequence, and the synchronous control of the vehicle steering and the vehicle body side-tipping movement is realized through steering time delay;
secondly, the steering wheel and the vehicle body are connected through the damper, damping constraint is carried out on the steering wheel, and stability of the vehicle in the running direction is kept.
The synchronous control of the vehicle steering and the vehicle body side-tipping movement is realized through the steering delay, the rigidity of a steering system is weakened due to the fact that a delayer is connected between a steering gear and a steering wheel in series, and the damping constraint is implemented on the steering wheel by additionally arranging a damper between the steering wheel and the vehicle body; on the basis of ensuring the driving safety of the vehicle, the riding smoothness and riding comfort of the vehicle are improved.
Claims (3)
1. The single-wheel steering delay transmission method of the active roll vehicle is characterized by comprising the following steps: the method is characterized in that steering delay control is implemented on a steering wheel, synchronization of vehicle steering and vehicle body side-tipping movement is realized, damping constraint is implemented on the steering wheel, and stability of the vehicle running direction is guaranteed, and the specific technical measures are as follows:
firstly, a steering device, a time delay device and a steering wheel are connected in series in sequence, and the synchronous control of the vehicle steering and the vehicle body side-tipping movement is realized through steering time delay;
secondly, the steering wheel and the vehicle body are connected through the damper, damping constraint is carried out on the steering wheel, and stability of the vehicle in the running direction is kept.
2. The single-wheel steering delay transmission device of the active roll vehicle is characterized by comprising: the steering wheel is rotationally connected with the lower end of the steering shaft, the rotating axis of the steering wheel is vertically staggered with the L, one end of the oscillating bar is rotationally connected with the vehicle body, the rotating axis is parallel to the L, the other end of the oscillating bar is connected with one end of the time delay device through a ball hinge, the other end of the time delay device is connected with a point ball hinge on the steering arm, the steering device is fixed on the vehicle body, one end of the connecting rod is connected with an output shaft of the steering device through a ball hinge, the other end of the connecting rod is connected with a point ball hinge on the oscillating bar, one end of the damper is connected with the ball hinge on the vehicle body, and the other end of the damper is connected with a point ball hinge on the steering arm;
wherein: steering control angle input by steering gear input shaft
The swing rod obtains a steering driving angle through the speed reduction of the steering gear and the transmission of the connecting rod
After the delayer delays the time by delta t, the steering arm obtains a steering angle
The steering wheel steering angle is equal to the steering angle theta, and the synchronous control of the vehicle steering and the vehicle body side-tipping motion is realized; a damper is connected between the steering wheel and the vehicle body, so that steering impact is reduced, the interference of the ground to the steering wheel is eliminated, and the stability of the vehicle running direction is kept.
3. The forward vehicle single round of connecting rod initiative heeling turns to time delay transmission, its characterized in that includes: the steering shaft is rotatably connected with the vehicle body, a rotating axis L is positioned in a vertical plane of the vehicle body, an inclination angle delta is formed between the L in the vertical plane of the vehicle body and a vertical plane of the vehicle body, a steering arm is vertically and fixedly connected with the steering shaft, a steering wheel is rotatably connected with the lower end of the steering shaft, the rotating axis of the steering wheel is vertically staggered with the L, one end of a swing rod is rotatably connected with the vehicle body, the rotating axis is parallel to the L, the other end of the swing rod is connected with one end of a connecting rod through a ball hinge, the other end of the connecting rod is connected with a point ball hinge on the steering arm, the steering gear is fixed on the vehicle body, one end of a time delay device is connected with a steering gear output shaft through the ball hinge, the other end of the;
wherein: steering control angle input by steering gear input shaft
After the speed is reduced by the steering gear and the time delay delta t is delayed by the time delay device, the swing rod obtains a steering driving angle
Steering angle is obtained through connecting rod transmission and steering arm
The steering wheel steering angle is equal to the steering angle theta, and the synchronous control of the vehicle steering and the vehicle body side-tipping motion is realized; a damper is connected between the steering wheel and the vehicle body, so that steering impact is reduced, the interference of the ground to the steering wheel is eliminated, and the stability of the vehicle running direction is kept.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110403757.5A CN112896146B (en) | 2021-04-08 | 2021-04-08 | Single-wheel steering delay transmission device and method for active side-tipping vehicle |
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| CN202110403757.5A CN112896146B (en) | 2021-04-08 | 2021-04-08 | Single-wheel steering delay transmission device and method for active side-tipping vehicle |
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| CN112896146B CN112896146B (en) | 2022-08-30 |
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2021
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| CN1429164A (en) * | 2000-05-18 | 2003-07-09 | 布林克斯韦斯特马斯公司 | Tilting vehicle provided with steerable rear wheels |
| CN1403312A (en) * | 2001-09-11 | 2003-03-19 | 现代自动车株式会社 | Suspension mechanism utilizing steering gear bogie |
| CN109625089A (en) * | 2018-12-25 | 2019-04-16 | 王亚 | Vehicular turn rolls the vehicle of linkage and the application device |
| WO2020138494A1 (en) * | 2018-12-27 | 2020-07-02 | 株式会社エクォス・リサーチ | Vehicle |
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