CN112977595B - Control rod mechanism based on wire control chassis and control rod control system - Google Patents

Control rod mechanism based on wire control chassis and control rod control system Download PDF

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Publication number
CN112977595B
CN112977595B CN202110391308.3A CN202110391308A CN112977595B CN 112977595 B CN112977595 B CN 112977595B CN 202110391308 A CN202110391308 A CN 202110391308A CN 112977595 B CN112977595 B CN 112977595B
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coil
control
transmission shaft
circular groove
button
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CN112977595A (en
Inventor
郑宏宇
张建成
郭中阳
宗长富
宋娟娟
王剑波
吴竟启
束琦
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Jilin University
Jiangsu Chaoli Electric Inc
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Jilin University
Jiangsu Chaoli Electric Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/12—Hand levers
    • 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
    • B60G17/015—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 the regulating means comprising electric or electronic elements
    • 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
    • B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
    • B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
    • B60Q1/343—Manually actuated switching arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/08—Brake-action initiating means for personal initiation hand actuated
    • B60T7/10—Disposition of hand control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The invention designs a control lever mechanism based on a wire control chassis and a control system of the control lever, belonging to the field of wire control automobiles. The operating rod mechanism realizes the automatic aligning function of the vehicle by matching the permanent magnet and the variable damping liquid, and improves the road interference resistance of the vehicle; the gear of the vehicle can be switched by operating different buttons; the ratchet wheel on the rotary control lever can realize the adjustment of the suspension, and the passing property and the comfort of the automobile are improved. The control system of the control lever comprises two control lever mechanisms designed by the invention, different control modes and a set of fault-tolerant mechanism, and the two control levers are matched for use, so that the vehicle can obliquely run in any direction and rotate around the geometric center of the vehicle, and the maneuverability of the vehicle is improved; through the selection of different modes, the control lever designed by the invention can be suitable for different chassis architectures and different types of drivers, and the applicability of the control lever is improved; through the design of the fault-tolerant mechanism, the driving safety of the vehicle is improved.

Description

Control rod mechanism based on wire control chassis and control rod control system
Technical Field
The invention belongs to the field of wire-controlled automobiles, and particularly relates to a control rod mechanism and a control rod control system based on a wire-controlled chassis. The control rod mechanism based on the drive-by-wire chassis integrates steering, braking, driving and suspension, has the function of automatically correcting steering, and the correcting moment of the control rod mechanism can be adjusted, so that the road surface interference resistance of an automobile is improved; the control rod mechanism is not only suitable for different drive-by-wire chassis frameworks such as front wheel steering rear wheel drive, front wheel steering front wheel drive, front wheel steering four-wheel drive, four-wheel steering rear wheel drive, four-wheel independent steering four-wheel independent drive and the like, but also suitable for people with different body qualities and driving habits, and improves the applicability of the control rod. In addition, the control rod mechanism and the control system of the control rod based on the drive-by-wire chassis comprise a set of strict fault-tolerant mechanism, and guarantee is provided for safe driving of the drive-by-wire automobile. When the control rod mechanism and the control rod control system based on the drive-by-wire chassis are used for four-wheel independent steering and four-wheel independent driving automobiles, the drive-by-wire automobile can be controlled to obliquely run along different directions and rotate around a geometric center of the drive-by-wire automobile, so that the maneuverability of the automobile is improved. Through the control of the wire-controlled suspension, the control rod mechanism and the control system based on the wire-controlled chassis can enable the wire-controlled automobile to be smoothly switched between comfort and mobility, can manually adjust the height of the wire-controlled chassis, and improve the passing performance and comfort of the automobile.
Background
With the development and maturity of power electronic technology and wireless communication technology, the wire control technology has been widely applied to various industries, such as airplanes and ships, and medical toy racing cars, and shadows of the wire control technology can be seen. The use of the wire control technology saves manpower and material resources and improves the efficiency of production and life.
In the automobile industry, the traditional whole automobile architecture is developing towards the direction of weight reduction by wire, intellectualization, energy conservation and greening, automatic driving is more likely to replace manual driving in the near future, and the wire control technology is just a bridge connecting the traditional automobile and the automatic driving automobile. However, autonomous driving has a long way to go instead of unmanned driving, and human intervention is still required to operate these drive-by-wire systems in the process. At present, the technologies of steer-by-wire, brake-by-wire, drive-by-wire and suspension-by-wire are developed more and more, the chassis-by-wire appears in the visual field of people, and the application of the chassis-by-wire makes drivers more possible to control the automobile to run according to the state that the drivers want. However, the unique advantages of the drive-by-wire chassis cannot be brought into play by the traditional steering wheel control, and the control lever is an excellent choice for controlling the drive-by-wire automobile by replacing the steering wheel with the control lever due to the flexible arrangement and convenient operation. The configurations of the drive-by-wire chassis are various, most of the current ideas for designing the control rod of the drive-by-wire chassis only focus on one configuration of the drive-by-wire chassis, and different control rods need to be designed for different configurations of the drive-by-wire chassis, so that the design difficulty and the manufacturing difficulty are increased.
Joystick replacement steering wheels have been found on some concept vehicles, such as Honda AC-X, modern Prophecy. Chinese patent CN102530050A discloses an operating lever device integrating steering, braking and speed changing based on a wire control system of an automobile, which has a simple structure, but does not consider a wire control suspension and a fault-tolerant mechanism, and also has no function of automatic steering correction, and has poor anti-interference capability; chinese patent CN102582674B discloses a two-degree-of-freedom force output joystick capable of controlling vehicle acceleration, steering and braking, but the device does not have road feel feedback and wire control suspension, and also does not consider the fault-tolerant mechanism and the automatic steering aligning function, and is not suitable for wire control chassis automobiles with extremely high requirements on safety performance.
Disclosure of Invention
The invention designs a control rod mechanism and a control rod control system based on a drive-by-wire chassis. The control rod mechanism integrates steering, braking, driving and suspension, has the function of automatic steering and correcting through ingenious mechanical structure design, has adjustable automatic correcting moment and improves the road surface interference resistance of the automobile. By designing a control system based on the control lever, the control lever mechanism can also control the automobile to obliquely run along any direction and turn around the geometric center of the automobile in situ, so that the maneuverability of the automobile is improved. Meanwhile, through the ingenious mechanical structure design, the control rod mechanism can also conveniently control the drive-by-wire suspension, so that the automobile can be smoothly switched between a comfortable type and a sports type, the height of the drive-by-wire chassis can be manually adjusted, and the passing performance and the comfort of the automobile are improved. In addition, the control system of the control lever can provide a driving mode which accords with the driving habits of people with different characteristics; the control lever mechanism designed by the invention can be suitable for different drive-by-wire chassis frameworks such as front wheel steering rear wheel drive, front wheel steering front wheel drive, front wheel steering four wheel drive, four wheel steering rear wheel drive, four wheel independent steering four wheel independent drive and the like, and the application capability of the control lever mechanism is improved; a set of strict fault-tolerant system is designed for the automobile with the control lever, and the driving safety of the drive-by-wire chassis automobile is improved.
According to one aspect of the invention, the invention relates to a control rod mechanism based on a drive-by-wire chassis:
the control lever mechanism based on the wire control chassis comprises an outer box body, an inner box body, a control handle, a first rotating wheel, a second rotating wheel, a third rotating wheel, a fourth rotating wheel, a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a first angle sensor, a second angle sensor, a third angle sensor, a fourth angle sensor, a first lithium battery, a second lithium battery and a third lithium battery, wherein a placing groove is formed in the middle of the outer box body, the inner box body is placed in the placing groove, the outer walls of the inner box body are cuboid, the outer walls of the two shorter ends of the inner box body are symmetrically and fixedly connected with a fifth transmission shaft and a sixth transmission shaft, the fifth transmission shaft and the sixth transmission shaft are respectively hinged with the first transmission shaft and the second transmission shaft which are arranged on the inner side of the outer box body, and the inner box body can rotate around the left and right central axes of the first transmission shaft and the second transmission shaft, the left end and the right end of the bottom of the control handle are fixedly connected with a seventh transmission shaft and an eighth transmission shaft, the seventh transmission shaft and the eighth transmission shaft are respectively and fixedly connected with a third transmission shaft and a fourth transmission shaft which are arranged at the longer two ends of the inner box body through locking nuts, and the control handle can rotate back and forth around the central axes of the third transmission shaft and the fourth transmission shaft.
Furthermore, the external box body is provided with a placing groove, a first circular groove, a second circular groove, a third circular groove, a fourth circular groove, a first square groove and a second square groove, and the external box body is provided with a first button, a second button, a third button and a fourth button.
Further, a placement groove for placing the inner box and allowing the inner box to have a movement space of 100 ° and 80 ° in each of left and right and front and rear directions is opened at the middle of the outer box and at both shorter ends and the top surface.
Furthermore, a first circular groove and a second circular groove are respectively arranged on the front wall surface and the rear wall surface of the placing groove, the first circular groove and the second circular groove are identical in size and shape, the diameter of the first circular groove is not less than 50mm, the length of the first circular groove is not less than 40mm, bearing holes are respectively formed in the plane walls of the first circular groove and the second circular groove, a first bearing and a second bearing are respectively arranged in the bearing holes, the first rotating wheel and the first transmission shaft are arranged in the first circular groove, the first transmission shaft and the first rotating wheel are connected through a spline, the first transmission shaft can drive the first rotating wheel to rotate around the central axis of the first circular groove, the first transmission shaft is fixed in the first circular groove through the first bearing and a third bearing, the structure of the second circular groove is identical to that of the first circular groove, and the second rotating wheel and the second transmission shaft are arranged in the second circular groove, at least two pairs of first permanent magnets are arranged on the arc wall of at least one of the first circular groove and the second circular groove, the first permanent magnets are in arc-shaped sheets and are concentric with the first circular groove and the second circular groove, the first permanent magnets are made of neodymium iron boron, the first permanent magnets are arranged in the first circular groove and the second circular groove in an adhesion mode, a first sealing cover is arranged at the outer port of the first circular groove, the third bearing is fixed at the center of the first sealing cover, a round hole with the diameter of 2mm is formed in the lower portion of the first sealing cover, a sealing plug is arranged in the round hole, the round hole is used for injecting and removing magnetorheological fluid into the first circular groove, a first angle sensor is arranged on the outer surface of the first sealing cover and used for collecting rotation angle information of a first transmission shaft and transmitting the rotation angle information to a drive-by-wire chassis control system, the opening of the second circular groove is also provided with a second sealing cover and a second angle sensor, the structure of the second sealing cover is the same as that of the first sealing cover, and the second angle sensor is used for collecting angle information of the second transmission shaft and transmitting the angle information to the chassis control system.
Further, third circular slot and fourth circular slot are respectively in the outside and the concentricity of first circular slot and second circular slot, first coil and second coil are installed respectively to the inside of third circular slot and fourth circular slot, first coil is used for providing variable magnetic field for first circular slot, the second coil is used for providing variable magnetic field for the second circular slot, sealed lid is all installed to third circular slot and fourth circular slot opening, and sealed covering all opens the round hole that can pass through the wire, so that inside coil is connected with external power supply equipment conveniently.
Furthermore, a first button, a second button, a third button and a fourth button are positioned on one side of the external box body with an inclined plane, the first button is a forward gear button, the second button is a neutral gear button, the third button is a reverse gear button, the fourth button is a parking button, the first button is a blue oval and represents power, the major axis of the oval is 16mm, and the minor axis of the oval is 10 mm; the second button is a white square and represents power interruption, and the four sides of the square are 12mm in length; the third button is an orange circle, representing danger, the diameter of the circle being 10 mm; the fourth button is a red semicircle which represents parking, and the radius of the semicircle is 16 mm; the first button is in the leftmost side on inclined plane, second button, third button, fourth button from left to right in proper order on the right side on inclined plane and adjacent two button interval are not less than 10 mm.
Furthermore, the first square groove and the second square groove are respectively arranged below the first circular groove and the second circular groove, the first lithium battery and the second lithium battery are respectively arranged on the first square groove and the second square groove and are used as standby batteries, when the electric quantity of the drive-by-wire chassis power battery is too low or when the power supply failure of the chassis power battery to the first coil and the second coil occurs, the first lithium battery and the second lithium battery can respectively provide electric energy for the first coil and the second coil, and simultaneously when the electric quantity of the first lithium battery and the second lithium battery is lower than 60% of the rated electric quantity, the chassis power battery can supply power to the chassis power battery until the electric quantity reaches 95% of the rated electric quantity, so that the driving safety of the chassis automobile is improved, and one side of the first square groove and the second square groove close to the placing groove is provided with the drive-by-wire round holes with the diameter of 3mm, the round hole is used for passing through a lead.
Furthermore, a fifth circular groove, a sixth circular groove, a seventh circular groove, an eighth circular groove and a third square groove are formed in the inner box body.
The fifth circular groove and the sixth circular groove are symmetrically positioned at the longer two ends of the internal box body respectively, the fifth circular groove and the sixth circular groove are concentric, at least two pairs of second permanent magnets are bonded on the inner wall of one circular groove, the second permanent magnets are arc-shaped sheets and are concentric with the fifth circular groove and the sixth circular groove, the second permanent magnets are made of neodymium iron boron, the third rotating wheel, the third transmission shaft, the fourth rotating wheel and the fourth transmission shaft are respectively installed in the fifth circular groove and the sixth circular groove, the installation mode of the third rotating wheel and the third transmission shaft in the fifth circular groove and the installation mode of the fourth rotating wheel and the fourth transmission shaft in the sixth circular groove are the same as the installation mode of the first rotating wheel and the first transmission shaft in the first circular groove, and the third sealing cover and the fourth sealing cover are respectively installed at the opening of the fifth circular groove and the sixth circular groove, the outer wall of the third sealing cover is provided with the third angle sensor, the third angle sensor is used for collecting angle information of the third transmission shaft and transmitting the angle information to the chassis control system, the outer wall of the fourth sealing cover is provided with the fourth angle sensor, and the fourth angle sensor is used for collecting angle information of the fourth transmission shaft and transmitting the angle information to the chassis control system;
the seventh circular groove and the eighth circular groove are respectively arranged at the outer sides of the fifth circular groove and the sixth circular groove and are concentric, a third coil and a fourth coil are respectively arranged inside the seventh circular groove and the eighth circular groove, and the third coil and the fourth coil respectively provide variable magnetic fields for the fifth circular groove and the sixth circular groove;
the third square groove is arranged in the middle of the inner box body, the third lithium battery is arranged in the third square groove and serves as a standby battery, when the electric quantity of the drive-by-wire chassis power battery is too low or when the chassis power battery fails to supply power to the third coil and the fourth coil, the third lithium battery can provide electric energy for the third coil and the fourth coil, and meanwhile, when the electric quantity of the third lithium battery is lower than 60% of the rated electric quantity, the chassis power battery can supply power to the third lithium battery until the electric quantity of the third lithium battery reaches 95% of the rated electric quantity.
The use of a backup lithium battery improves the safety of the joystick control system.
In the design scheme, the top end of the operating handle is provided with an operating ball, and a fifth button, a sixth button, a seventh button and a ratchet wheel are arranged on the operating ball.
The fifth button and the sixth button are arranged on the left side of the control ball and can be controlled by the thumb, the fifth button is circular and has the diameter of 6mm and is used for controlling the left turn light, and the sixth button is circular and has the diameter of 8mm and is used for controlling the right turn light;
the ratchet wheel is positioned on the right side of the control ball, the diameter of the ratchet wheel is 16mm, the ratchet wheel can be controlled by a thumb and used for adjusting the drive-by-wire suspension, the drive-by-wire chassis active suspension can be smoothly converted between a comfortable type and a sport type by rotating the ratchet wheel, a graduated disc with the measuring range of 120 degrees and the scales variable is arranged on the outer surface of the ratchet wheel, the comfortable type is represented by 0 degree on the graduated disc, the sport type is represented by 120 degrees on the graduated disc, and the scale theta on the graduated disc is represented by thetakComprises the following steps:
Figure BDA0003016841540000031
in the formula: thetakIs the scale of a graduated scale theta0Is the angle on the scale from 0.
The ratchet wheel can transmit the rotation angle information of the ratchet wheel by using an electric signal generated by the arc slide rheostat.
The seventh button is located right in front of the operating ball and can be controlled by a thumb, the seventh button is used for switching a driving mode and a braking mode, when the seventh button is pressed, the driving signal is cut off, the braking module is acted, the seventh button is restored, the braking signal is cut off, and the driving module is acted.
Furthermore, open first runner excircle surface has the arc wall to be used for laying the third permanent magnet, the third permanent magnet is no less than two pairs and symmetrical evenly distributed at the surface of first runner, the shape of third permanent magnet is arc slice and thickness is 3mm, the permanent magnet can be for bonding or riveting at the fixed mode on runner surface, first runner has the multi-disc flabellum, every flabellum is opened at least has a hole, there is the splined hole first runner center, be arranged in first transmission shaft and with first transmission shaft between transmission power, the structure of third transmission shaft and third runner is the same with the structure of first transmission shaft and first runner in second transmission shaft and second runner and the inside box in the outside box, be convenient for make and process.
Further, the permanent magnet pairs arranged on the inner surfaces of the first circular groove and the second circular groove of the external box body and the fifth circular groove and the sixth circular groove of the internal box body are respectively the same as the permanent magnet pairs arranged on the outer surfaces of the first rotating wheel, the second rotating wheel, the third rotating wheel and the fourth rotating wheel, wherein the magnetic field intensity generated by the two pairs of permanent magnets in the internal box body is larger than the magnetic field intensity generated by the two pairs of permanent magnets in the external box body, when the operating lever is positioned at the initial position, the permanent magnets on the outer surfaces of the rotating wheels are opposite to the permanent magnets on the inner surfaces of the corresponding circular grooves, the polarities of the adjacent permanent magnets are opposite, the polarities of the opposite permanent magnets are also opposite, when the rotating wheels rotate relative to the corresponding circular grooves, the operating handle can be automatically righted under the action of magnetic force, the magnetorheological fluid is filled in the first circular groove, the second circular groove, the fifth circular groove and the sixth circular groove, and the magnetorheological fluid is filled in the first coil, The current of the second coil, the third coil and the fourth coil can change the damping of the magnetorheological fluid, and the current I of the first coil and the second coil is controlled according to the following formula1And current I of the third and fourth coils2The full-line control chassis automobile can quickly return at low speedThe centering at the positive speed and the high speed does not generate oscillation and overshoot, and can ensure that a driver has better road feel, wherein I1And I2The values of (A) are:
Figure BDA0003016841540000041
Figure BDA0003016841540000042
in the formula: i is1For the control currents of the first and second coils, I2Control currents for the third coil and the fourth coil; A. b, C, D, E, F, G is a constant coefficient obtained by test debugging; i ismax1Maximum current allowed for the first coil and the second coil, Imax2The maximum current allowed for the third coil and the fourth coil; k is a radical ofp、ki、kdFor PID control parameters, kp、ki、kdMagnitude of rotation angle theta of first transmission shaft and magnitude of rotation angle vx along with vehicle speedz1And fitting from experimental data; vx is the speed of the full-wire-control chassis automobile; thetaz1Is the rotation angle of the first transmission shaft, is positive anticlockwise,
Figure BDA0003016841540000043
is the rotational angular velocity of the first drive shaft; f2Dynamic model of damping force generated by the rotation of the rotor in the first circular groove in the magnetorheological fluid, F2And the control current I of the first coil1And the rotational angular velocity of the first drive shaft
Figure BDA0003016841540000044
Is related to the size of the test data and is obtained by fitting the test data; ftSimulating a force for a desired road feel; f1The magnetic force generated by the interaction of the third permanent magnet on the first rotating wheel and the first permanent magnet on the inner wall of the first circular groove has a value which is in nonlinear correlation with the rotation angle of the first transmission shaft; thetaz2Is the rotation angle of the fourth transmission shaft,
Figure BDA0003016841540000045
the rotation angular speed of the fourth transmission shaft is positive anticlockwise; thetaaAnd thetabIs constant and is obtained by test debugging.
According to a second aspect of the invention, the invention relates to a joystick-based joystick control system according to the invention. The control lever control system based on the drive-by-wire chassis comprises two control lever mechanisms designed as above, wherein the first control lever mechanism is positioned on the left side of a driving position, the second control lever mechanism is positioned on the right side of the driving position, and the control lever control system can be set into a mode A mode and a mode B mode by software. The mode A is suitable for four types of all-linear control chassis configurations of front wheel steering rear wheel driving, front wheel steering front wheel driving, front wheel steering four wheel driving and four-wheel steering rear wheel driving, and the mode B is suitable for four-wheel independent driving + four-wheel independent steering + four-wheel independent braking + four-wheel independent suspension all-linear control chassis configurations.
Furthermore, in the mode A, the full-wire control chassis can be controlled only by a second operating lever mechanism, the electronic gear shifting system of the wire control chassis can receive switch signals generated by a first button, a second button, a third button and a fourth button of the second operating lever mechanism to switch gears, the drive system of the wire control chassis and the brake system of the wire control chassis can receive a corner signal generated by fourth transmission of the second operating lever mechanism and a switch signal generated by a seventh button to realize control on the longitudinal speed of the automobile, the drive-by-wire suspension system can receive an angle signal generated by a ratchet wheel of the second operating lever mechanism to realize control on the comfort and the passability of the automobile, and the steer-by-wire system can receive an angle signal generated by a first transmission shaft of the second operating lever mechanism to realize transverse control on the automobile;
furthermore, in the mode A, the first operating lever mechanism can only have the steering, driving and braking functions of the second operating lever mechanism, when the second operating lever mechanism fails, the first operating lever mechanism can ensure that the chassis-by-wire automobile normally runs, and the second operating lever mechanism can also be matched with the first operating lever mechanism for use, wherein the second operating lever mechanism is responsible for controlling the drive-by-wire system, the drive-by-wire system and the suspension-by-wire system, the first operating lever mechanism is responsible for controlling the steering-by-wire system, and when any operating lever mechanism fails, the non-failed operating lever mechanism takes over the steering or braking and driving functions of the failed operating lever mechanism;
further, the first joystick mechanism and the second joystick mechanism in the mode B are used in cooperation, the longitudinal motion of the all-wire controlled chassis is controlled by a four-wheel independent driving system and a four-wheel independent braking system through a received corner signal generated by a fourth transmission shaft of the second joystick mechanism and a received switch signal generated by a seventh button, the four-wheel independent suspension system controls the height of the chassis through a received corner signal of a ratchet wheel of the first joystick, the four-wheel independent suspension system controls the comfort of the all-wire controlled chassis automobile through a received corner signal of a ratchet wheel of the second joystick, and the four-wheel independent steering system can realize the transverse control of the all-wire controlled chassis through a received switch signal generated by a seventh button in the first joystick, an angle signal generated by a first transmission shaft of the first joystick and an angle signal generated by a first transmission shaft of the second joystick, when the seventh button of the first control lever is pressed down, the four-wheel independent steering system controls the full-wire-controlled chassis to steer around the geometric center of the full-wire-controlled chassis in situ through the received corner signal of the first drive shaft of the second control lever mechanism, wherein when the seventh button of the first control lever is not pressed down, the four-wheel independent steering system controls the full-wire-controlled chassis to steer around the geometric center of the full-wire-controlled chassis in situ through the received corner signal of the first drive shaft of the first control lever mechanism and the received corner signal of the first drive shaft of the second control lever mechanism, and when the two control levers steer around the respective fifth drive shafts simultaneously to the inner side of the driving position, the original steering direction is anticlockwise, and when the two control levers steer around the respective fifth drive shafts simultaneously to the outer side of the driving position, the pivot steering direction is clockwise, and the angular velocity w of the pivot steering is aroundiThe values are:
Figure BDA0003016841540000051
in the formula: w is aiIs the angular velocity of the wire-controlled base plate rotating around its geometric center, the counterclockwise direction is positive, the unit is degree per second, w0For the initial value of the angular velocity of rotation of the wire-controlled base plate around its geometric center, R is the gain factor, thetai1The rotation angle of the first transmission shaft of the first control lever and the reverse time hand are positive thetai2The rotation angle of the first transmission shaft of the second operating lever is positive anticlockwise.
According to the third aspect of the invention, in the design scheme, the control lever mechanism designed by the invention can be set to be in a right-hand mode and a left-hand mode through software, and can also be set to be in a light-weight type with force sense, a moderate-sized type with force sense and a heavy-weight type with force sense through software, so that different types of people can control the control lever mechanism according to own driving habits.
Furthermore, the joystick control system defaults to a right-hand mode, which is different from a left-hand mode in that the first joystick and the second joystick perform different functions, and the function of the first joystick in the right-hand mode is the same as that of the second joystick in the left-hand mode, and similarly, the function of the second joystick in the right-hand mode is the same as that of the first joystick in the left-hand mode, so that both right-handed and left-handed people can better adapt to the joystick mechanism designed by the invention.
Further, the joystick control system defaults to a force-sensing neutral mode, wherein different force-sensing modes can be obtained by adjusting the currents of the first coil, the second coil, the third coil and the fourth coil, and the current control rules of the first coil, the second coil, the third coil and the fourth coil in the force-sensing neutral mode are as same as I1And I2The control rules are the same, and the current control of the first coil, the second coil, the third coil and the fourth coil in the light force sensing mode and the heavy force sensing modeRule is respectively composed of1And I2The control rule of (2) is obtained by linear transformation, and the control rules of the first coil, the second coil, the third coil and the fourth coil in the light force feeling type and the heavy force feeling type are as follows:
I1q＝q1I1+q10
I2q＝q2I2+q20
I1c＝c1I1+c10
I2c＝c2I2+c20
in the formula: i is1qAnd I1cControl currents of the first coil, the second coil, the third coil and the fourth coil under the light type and the heavy type of force sensing respectively, I1For controlling the current for the first and second coils in the moderate type of force sensing, I2qAnd I2cControl currents of the first coil, the second coil, the third coil and the fourth coil respectively under the light type and heavy type of force sensing, I2Control currents of a third coil and a fourth coil under a moderate force sense type; q. q.s1、q10、q2、q20、c1、c10、c2And c20All the coefficients are constant coefficients and can be obtained by fitting according to the results of sampling investigation experimental data.
According to a fourth aspect of the present invention, the present invention further comprises a fault tolerance mechanism, wherein in the design scheme, when the joystick control system works in the B mode and any one of a certain joystick failure, a certain steering motor failure, a certain brake motor failure and a certain drive motor failure occurs, the joystick control system immediately switches the B mode into the a mode and sends an alarm signal to the driver. When a certain control lever fails or a certain rear wheel steering motor fails, the control lever control system is switched to a driving mode of front wheel steering four-wheel driving under the A mode, when the certain rear wheel driving motor fails, the control lever control system is switched to the driving mode of front wheel steering front wheel driving under the A mode, and when the certain front wheel driving motor fails, the control lever control system is switched to the driving mode of front wheel steering rear wheel driving under the A mode; when the control system works in any mode, the steer-by-wire system takes an angle signal generated by the first angle sensor as a control signal, the second angle sensor is used for verifying the angle signal generated by the first angle sensor, and when the first angle sensor fails, the steer-by-wire system takes the angle signal generated by the second angle sensor as the control signal; the brake-by-wire system and the drive-by-wire system use the angle signal generated by the third angle sensor as a control signal, use the signal generated by the fourth angle sensor as a check signal, and use the angle signal generated by the fourth angle sensor as a control signal when the third angle sensor fails, so that the safety of the drive-by-wire automobile is improved by the design scheme.
Drawings
In order to more clearly illustrate the technical solutions implemented in the present application, the drawings required to be used in the embodiments of the present application are briefly described below, and the following drawings only show a certain embodiment of the present application and therefore should not be considered as limiting the scope, and it is obvious for those skilled in the art to obtain other related drawings based on these drawings without inventive efforts.
FIG. 1 is an overall front elevation view of a chassis-by-wire based joystick mechanism according to the present invention;
FIG. 2 is an internal block diagram of a chassis-by-wire based joystick mechanism according to the present invention;
FIG. 3 is an internal block diagram of the interior housing of a chassis-by-wire based joystick mechanism according to the present invention;
FIG. 4 is a three-dimensional side view of a chassis-by-wire based joystick mechanism according to the present invention;
FIG. 5 is a block diagram of the wheel in a chassis-by-wire based joystick mechanism according to the present invention; (ii) a
FIG. 6 is a cross-sectional view of a wheel in a chassis-by-wire based joystick mechanism according to the present invention;
FIG. 7 is a schematic diagram of one chassis-by-wire based joystick control system mode A according to the present invention;
FIG. 8 is a schematic diagram of mode B of a chassis-by-wire based joystick control system according to the present invention;
FIG. 9 is a schematic diagram of steering control in mode B of a chassis-by-wire based joystick control system according to the present invention;
FIG. 10 is a schematic diagram of the fault tolerant mechanism in mode B of a chassis-by-wire based joystick control system according to the present invention.
The parts in the figures are labeled as follows:
1 outer casing 2 inner casing 3 operating lever 4 wheel 5 wheel 6 wheel 7 wheel 8 drive shaft 9 drive shaft 10 drive shaft 11 drive shaft 12 bearing 13 bearing 14 angle sensor 15 angle sensor
16 lithium battery 17 lithium battery 18 lithium battery 19 placing groove 20 drive shaft 21 drive shaft 22 drive shaft 24 circular groove 26 circular groove 27 round groove 28 square groove 29 square groove 30 button
31 button 32 button 33 button 34 bearing 35 bearing 36 bearing 37 seal cover 38 coil 40 circular groove 42 circular groove 43 circular groove 44 square groove 46 permanent magnet 47 seal cover 48 seal cover 49 coil 50 coil 51 button 52 button 53 button 54 ratchet 55 permanent magnet 55 button 52 button 53
Detailed Description
In the present embodiment, a chassis-by-wire based joystick mechanism and a joystick control system are provided, fig. 1 to 6 are explanatory views of a chassis-by-wire based joystick mechanism provided according to the present invention, and fig. 7 to 10 are schematic diagrams of a chassis-by-wire based joystick control system according to the present invention.
Referring to fig. 1, 2, 3 and 4, a by-wire chassis based joystick mechanism. The control lever mechanism based on the wire control chassis comprises an external box body 1, an internal box body 2, a control handle 3, a rotating wheel 4, a rotating wheel 5, a rotating wheel 6, a rotating wheel 7, a transmission shaft 8, a transmission shaft 9, a transmission shaft 10, a transmission shaft 11, an angle sensor 12, an angle sensor 13, an angle sensor 14, an angle sensor 15, a lithium battery 16, a lithium battery 17 and a lithium battery 18, wherein a placement groove 19 is formed in the middle of the external box body 1, the internal box body 2 is placed in the placement groove 19, the internal box body 2 is cuboid and is symmetrically and fixedly connected with a transmission shaft 20 and a transmission shaft 21 on the outer walls of the short two ends, the transmission shaft 20 and the transmission shaft 21 are respectively hinged with the transmission shaft 8 and the transmission shaft 9 which are installed on the inner side of the external box body 1, the internal box body 2 can rotate left and right around the central axes of the transmission shaft 8 and the transmission shaft 9, and the left and right ends of the bottom of the control handle 3 are fixedly connected with a transmission shaft 22 and a transmission shaft 23, the transmission shafts 22 and 23 are respectively and fixedly connected with the transmission shafts 10 and 11 arranged at the two longer ends of the inner box body 2 through locking nuts, and the control handle 3 can rotate back and forth around the central axes of the transmission shafts 10 and 11.
Referring to fig. 2, the outer case 1 is provided with a placing groove 19, a circular groove 24, a circular groove 25, a circular groove 26, a circular groove 27, a square groove 28 and a square groove 29, and the outer case 1 is provided with a button 30, a button 31, a button 32 and a button 33; wherein the placing groove 19 is positioned in the middle of the outer box 1, the shorter two ends and the top surface are open, the placing groove 4 is used for placing the inner box 2 and can ensure that the inner box 2 has 100-degree and 80-degree motion spaces respectively in the left-right and front-back directions;
in the embodiment, the circular groove 24 and the circular groove 25 are respectively located on the front wall and the rear wall of the placing groove 19, the diameter of the circular groove is not less than 50mm, the length of the circular groove is not less than 40mm, bearing holes are respectively formed on the plane walls of the circular groove 24 and the circular groove 25, a bearing 34 and a bearing 35 are respectively installed in the respective bearing holes, the rotating wheel 4 and the transmission shaft 8 are installed in the circular groove 24, wherein the transmission shaft 8 and the rotating wheel 4 are connected through a spline, the transmission shaft 8 can drive the rotating wheel 4 to rotate around the central axis of the circular groove 24, the transmission shaft 8 is fixed in the circular groove 24 through the bearing 34 and the bearing 36, the structure of the circular groove 25 is the same as that of the circular groove 24, the rotating wheel 5 and the transmission shaft 9 are installed inside the circular groove, at least two pairs of permanent magnets 38 are installed on the circular arc wall of at least one circular groove of the circular groove 24 and the circular groove 25, the permanent magnets 38 are in the shape of a circular arc sheet and are concentric with the circular groove 24 and the circular groove 25, the permanent magnet 38 is made of neodymium iron boron, the permanent magnet 38 is arranged in the circular grooves 24 and 25 in an adhesion mode, a sealing cover 37 is arranged at the outer port of the circular groove 24, the bearing 36 is fixed at the center of the sealing cover 37, a circular hole with the diameter of 2mm is arranged at the lower part of the sealing cover 37, a sealing plug is arranged in the circular hole, the circular hole is used for injecting and discharging magnetorheological fluid into the circular groove 24, the outer surface of the sealing cover 37 is provided with the angle sensor 12, the angle sensor 12 is used for collecting the rotation angle information of the transmission shaft 8 and transmitting the rotation angle information to the drive-by-wire chassis control system, the opening of the circular groove 25 is also provided with a sealing cover and the angle sensor 13, the structure of the sealing cover at the opening of the circular groove 25 is the same as that of the sealing cover 37, and the angle sensor 13 is used for collecting the angle information of the transmission shaft 9 and transmitting the angle information to the chassis control system.
In the embodiment, the circular groove 26 and the circular groove 27 are respectively arranged outside and concentrically with the circular groove 24 and the circular groove 25, the coil 39 and the coil 40 are respectively arranged inside the circular groove 26 and the circular groove 27, the coil 39 is used for providing a variable magnetic field inside the circular groove 24, the coil 40 is used for providing a variable magnetic field inside the circular groove 25, the sealing covers are respectively arranged at the openings of the circular groove 26 and the circular groove 27, and circular holes with diameters of 2.5mm passing wires are respectively formed in the sealing covers so as to facilitate the connection of the internal coil and external power supply equipment.
In the embodiment, a button 30, a button 31, a button 32 and a button 33 are positioned on one side of the external box 1 with an inclined plane, the button 30 is a forward gear button, the button 31 is a neutral gear button, the button 32 is a reverse gear button, the button 33 is a parking button, the button 30 is a blue oval and represents power, the major axis of the oval is 16mm, and the minor axis of the oval is 10 mm; the button 31 is a white square representing power interruption, and the sides of the square are all 12 mm; button 32 is an orange circle, representing danger, said circle being 10mm in diameter; the button 33 is a red semicircle, representing parking, with a radius of 16 mm; the button 30 is arranged at the leftmost side of the inclined plane, the button 31, the button 32 and the button 33 are sequentially arranged at the right side of the inclined plane from left to right, and the distance between every two adjacent buttons is 10 mm;
in the embodiment, the square groove 28 and the square groove 29 are respectively located below the circular groove 24 and the circular groove 25, the lithium battery 16 and the lithium battery 17 are respectively installed in the square groove 28 and the square groove 29, the lithium battery 16 and the lithium battery 17 are used as standby batteries, when the electric quantity of the drive-by-wire chassis power battery is too low or when the power supply of the chassis power battery to the coil 39 and the coil 40 fails, the lithium battery 16 and the lithium battery 17 can respectively provide electric energy for the coil 39 and the coil 40, and meanwhile, when the electric quantity of the lithium battery 16 and the lithium battery 17 is lower than 60% of the rated electric quantity of the lithium battery, the chassis power battery can supply power to the chassis power battery until the electric quantity reaches 95% of the rated electric quantity, so that the driving safety of the drive-by-wire chassis automobile is improved, and circular holes with the diameter of 3mm are formed in one sides of the square groove 28 and the square groove 29 close to the placing groove 19, and the circular holes are used for allowing wires to pass through.
Referring to fig. 2 and 3, the inner case 2 is provided with a circular groove 41, a circular groove 42, a circular groove 43, a circular groove 44 and a square groove 45;
in the embodiment, the circular groove 41 and the circular groove 42 are symmetrically located at the two longer ends of the internal box 2, the circular groove 41 is concentric with the circular groove 42 and at least one inner wall of the circular groove is bonded with at least two pairs of permanent magnets 46, the permanent magnets 46 are arc-shaped sheets and concentric with the circular groove 41 and the circular groove 42, the permanent magnets 46 are made of neodymium iron boron, the rotating wheel 6, the transmission shaft 10, the rotating wheel 7 and the transmission shaft 11 are respectively installed in the circular groove 41 and the circular groove 42, the installation modes of the rotating wheel 6 and the transmission shaft 10 in the circular groove 41 and the installation modes of the rotating wheel 7 and the transmission shaft 11 in the circular groove 42 are the same as the installation modes of the rotating wheel 4 and the rotating shaft 8 in the circular groove 24, the sealing cover 47 and the sealing cover 48 are respectively installed at the opening of the circular groove 41 and the circular groove 42, the angle sensor 14 is installed on the outer wall of the sealing cover 47, and the angle sensor 14 is used for collecting the angle information of the transmission shaft 10 and transmitting the information to the chassis control system, the angle sensor 15 is mounted on the outer wall of the sealing cover 48, and the angle sensor 15 is used for collecting the angle information of the transmission shaft 11 and transmitting the angle information to the chassis control system;
the circular groove 43 and the circular groove 44 are respectively positioned at the outer sides of the circular groove 41 and the circular groove 42 and are concentric, the coil 49 and the coil 50 are respectively arranged inside the circular groove 43 and the circular groove 44, and the coil 49 and the coil 50 respectively provide variable magnetic fields for the circular groove 41 and the circular groove 42;
the square groove 45 is located in the middle of the inner box body, the lithium battery 18 is installed in the square groove 45, the lithium battery 18 serves as a standby battery, when the electric quantity of the line control chassis power battery is too low or when the chassis power battery fails to supply power to the coil 49 and the coil 50, the lithium battery 18 can provide electric energy for the coil 49 and the coil 50, and meanwhile when the electric quantity of the lithium battery 18 is lower than 60% of the rated electric quantity, the chassis power battery can supply power to the lithium battery until the electric quantity reaches 95% of the rated electric quantity.
The use of a battery backup improves the safety of the joystick system.
Referring to fig. 1, the top end of the operating handle 3 is designed with an operating ball, and a button 51, a button 52, a button 53 and a ratchet wheel 54 are arranged on the operating ball;
a button 51 and a button 52 are arranged on the left side of the manipulating round ball, the button 51 and the button 52 can be manipulated by the thumb, the button 51 is circular and has a diameter of 6mm and is used for controlling a left turn light, and the button 52 is circular and has a diameter of 8mm and is used for controlling a right turn light;
in the embodiment, the ratchet wheel 54 is positioned at the right side of the control ball, the diameter of the ratchet wheel 54 is 16mm, the ratchet wheel 54 is used for adjusting a drive-by-wire suspension, the drive-by-wire chassis active suspension can be smoothly converted between a comfortable type and an exercise type by rotating the ratchet wheel 54, a graduated disc with the measuring range of 120 degrees and the scales variable is arranged on the outer surface of the ratchet wheel 54, 0 degree on the graduated disc represents the comfortable type, 120 degrees on the graduated disc represents the exercise type, and the scales theta on the graduated disc are thetakComprises the following steps:
Figure BDA0003016841540000081
in the formula: thetakIs the scale of a graduated scale theta0Is the angle on the scale from 0.
The ratchet wheel 34 can transmit the information of the rotation angle of the ratchet wheel 34 by using an electric signal generated by the arc-shaped slide rheostat.
The button 53 is located right in front of the operating ball and can be operated by the thumb, the button 53 is used for switching a driving mode and a braking mode, when the button 53 is pressed, the driving signal is cut off, the braking module is operated, the button 53 is restored, the braking signal is cut off, and the driving module is operated.
Referring to the attached drawings 5 and 6, the outer circle surface of the rotating wheel 4 is provided with an arc-shaped groove for placing the permanent magnet 55, the permanent magnet 55 is not less than two pairs and is symmetrically and uniformly distributed on the outer surface of the rotating wheel 4, the permanent magnet 55 is arc-shaped sheet and 3mm in thickness, the permanent magnet can be bonded or riveted on the surface of the rotating wheel in a fixing mode, the rotating wheel 4 is provided with 6 fan blades, each fan blade is provided with a rectangular hole, the center of the rotating wheel 4 is provided with a splined hole for being mounted on the shaft 8 and transmitting power with the shaft 8, the structures of the transmission shaft 9 and the rotating wheel 5 in the external box body 1 and the structures of the transmission shaft 10 and the rotating wheel 6 in the internal box body 2 are the same as the structures of the transmission shaft 8 and the rotating wheel 4, and the manufacturing and processing are convenient.
Referring to fig. 2 and 3, the pairs of permanent magnets mounted on the inner surfaces of the outer tank circular groove 24, the circular groove 25 and the inner tank circular groove 41, the inner tank circular groove 42 are respectively the same as the pairs of permanent magnets mounted on the outer surfaces of the rotating wheel 4, the rotating wheel 5, the rotating wheel 6 and the rotating wheel 7, wherein the magnetic field intensity generated by the two pairs of permanent magnets in the inner tank 2 is greater than the magnetic field intensity generated by the two pairs of permanent magnets in the outer tank 1, when the operating lever is at the initial position, the permanent magnets on the outer surfaces of the rotating wheels are opposite to the permanent magnets on the inner surfaces of the corresponding circular grooves, the polarities of the adjacent permanent magnets are opposite, the polarities of the opposite permanent magnets are opposite, when the rotating wheels rotate relative to the corresponding circular grooves, the operating handle 3 is automatically adjusted by the magnetic force, the magnetorheological fluid is filled in the circular groove 24, the circular groove 25, the circular groove 41 and the circular groove 42, and the magnetorheological fluid is filled in the control coil 39, The current of the coil 40, the coil 49 and the coil 50 can change the damping of the magnetorheological fluid, and the current I of the coil 39 and the coil 40 is controlled according to the following formula1And current I of coil 49 and coil 502The full-linear control chassis automobile can be quickly aligned at low speed, does not generate oscillation and overshoot when aligned at high speed, and can enable a driver to have better road feel, wherein I1And I2The values of (A) are:
Figure BDA0003016841540000082
Figure BDA0003016841540000091
in the formula: i is1For the control currents of the coils 39 and 40, I2Control currents for coil 49 and coil 50; A. b, C, D, E, F, G is a constant coefficient obtained by test debugging; i ismax1Maximum current allowed for coils 39 and 40, Imax2The maximum current allowed for coils 49 and 50; k is a radical ofp、ki、kdFor PID control parameters, kp、ki、kdThe magnitude of which is dependent on the vehicle speed vx and the rotation angle theta of the transmission shaft 8z1And fitting from experimental data; vx is the speed of the full-wire-control chassis automobile; thetaz1Is the rotation angle of the transmission shaft 8, is positive anticlockwise,
Figure BDA0003016841540000092
is the rotational angular velocity of the drive shaft 8; f2Dynamic model of damping force generated by the rotation of the rotor in the circular groove 24 in the magnetorheological fluid, F2And the control current I of the coil 391And the rotational angular velocity of the drive shaft 8
Figure BDA0003016841540000093
Is obtained by fitting experimental data; ftSimulating a force for a desired road feel; f1The magnetic force generated by the interaction between the permanent magnet 55 on the rotating wheel 4 and the permanent magnet 38 on the inner wall of the circular groove 24 has a value which is in nonlinear correlation with the rotation angle of the transmission shaft 8 and can be verified by the simulation result and the experimental result of Maxwell/Ansys software; thetaz2As the rotation angle of the transmission shaft 11,
Figure BDA0003016841540000094
the rotation angular velocity of the transmission shaft 11 is positive counterclockwise; thetaaAnd thetabIs constant by experimentAnd (6) obtaining the result of debugging.
Referring to fig. 8 and 10, the joystick control system based on the drive-by-wire chassis comprises two joystick mechanisms of the above design, wherein the first joystick mechanism is positioned at the left side of a driving position, the second joystick mechanism is positioned at the right side of the driving position, and the joystick control system can be set into a mode A mode and a mode B mode by software. The mode A is suitable for four types of all-linear control chassis configurations of front wheel steering rear wheel driving, front wheel steering front wheel driving, front wheel steering four-wheel driving and four wheel steering rear wheel driving, and the mode B is suitable for four-wheel independent driving + four-wheel independent steering + four-wheel independent braking + four-wheel independent suspension all-linear control chassis configurations.
Referring to fig. 7, in the mode a, only the second joystick mechanism is needed to control the all-wire chassis, and the electronic shift system of the all-wire chassis can receive the switch signals generated by the buttons 30, 31, 32 and 33 of the second joystick mechanism to switch gears; the drive system and the brake system of the drive-by-wire chassis can receive a corner signal generated by a transmission shaft 11 of the second operating lever mechanism and a switch signal generated by a button 53 to realize the control of the longitudinal speed of the automobile; the drive-by-wire suspension system can receive an angle signal generated by a ratchet wheel 54 of the second control lever mechanism to realize the control on the comfort and the passability of the automobile, and the drive-by-wire steering system can receive an angle signal generated by a transmission shaft 8 of the second control lever mechanism to realize the transverse control on the automobile; the button 18 is pressed to switch the automobile to a forward gear, the control handle 3 rotates forwards around the transmission shaft 11 to drive the automobile to move forwards, the button 53 is pressed and the control handle 3 rotates backwards around the transmission shaft 11 to brake the automobile, and the control handle rotates left around the transmission shaft 8 to turn left to drive the automobile to turn left at a certain transmission ratio; the automobile can be switched to a reverse gear by pressing the button 32, and the automobile can be driven to move backwards by rotating the control handle 3 forwards around the shaft 20; when the automobile is temporarily parked, the button 33 is pressed, so that the automobile can be switched to a parking gear, and the automobile is prevented from slipping;
in the mode A, the first operating lever mechanism can only have the steering, driving and braking functions of the second operating lever mechanism, when the second operating lever mechanism fails, the first operating lever mechanism can ensure that the chassis-by-wire automobile normally runs, and the second operating lever mechanism can also be matched with the first operating lever mechanism for use, wherein the second operating lever mechanism is responsible for controlling the drive-by-wire system, the drive-by-wire system and the suspension-by-wire system, the first operating lever mechanism is responsible for controlling the drive-by-wire system, and when any operating lever mechanism fails, the non-failed operating lever mechanism takes over the steering or braking and driving functions of the failed operating mechanism;
referring to fig. 8 and 9, the first joystick mechanism and the second joystick mechanism in the mode B are used in cooperation, the longitudinal motion of the all-wire controlled chassis is controlled by a four-wheel independent drive system and a four-wheel independent brake system through a received corner signal generated by the transmission shaft 11 of the second joystick mechanism and a switch signal generated by the button 53, a four-wheel independent suspension system controls the height of the chassis through a received corner signal of the first joystick ratchet 54, a four-wheel independent suspension system controls the comfort of the all-wire controlled chassis automobile through a received corner signal of the second joystick ratchet 54, a four-wheel independent steering system can realize the transverse control of the all-wire controlled chassis through a received switch signal generated by the button 53 in the first joystick, an angle signal generated by the transmission shaft 8 of the first joystick and an angle signal generated by the transmission shaft 8 of the second joystick, when the first control lever button 53 is not pressed down, the four-wheel independent steering system preferentially detects a corner signal of the first control lever transmission shaft 8 to control the oblique movement of the automobile, when the corner signal of the first control lever transmission shaft 8 does not exceed 2 degrees, the four-wheel independent steering system controls the full-wire control chassis to steer at a certain curvature radius through the received corner signal of the second control lever mechanism transmission shaft 8, when the first control lever button 53 is pressed down, the four-wheel independent steering system can control the wire control chassis to wind on-site steering around the geometric center thereof through the received corner signal of the first control lever transmission shaft 8 and the corner signal of the second control lever mechanism transmission shaft 8, wherein when the two control levers simultaneously steer to the inner side of the driving position around the respective transmission shafts 20, the steering direction is counterclockwise, when the two control levers simultaneously steer to the outer side of the driving position around the respective transmission shafts 20, the pivot steering direction is clockwise, and the angular velocity around the pivot steering is as follows:
Figure BDA0003016841540000101
in the formula: w is aiIs the angular velocity of the wire-controlled base plate rotating around its geometric center, the counterclockwise direction is positive, and the unit is degree per second, w0Is the initial value of the angular velocity of the wire-controlled chassis rotating around the geometric center thereof, R is a gain coefficient, thetai1Is the angle of rotation of the first joystick shaft 8, counterclockwise is positive, thetai2The counterclockwise direction is positive, which is the rotation angle of the second joystick shaft 8.
Referring to fig. 10, the joystick system based on the drive-by-wire chassis can set the joystick mechanism designed by the invention to be in a right-hand mode and a left-hand mode through software, and can also set the joystick mechanism designed by the invention to be in a light-weight type with force feeling, a medium-weight type with force feeling and a heavy-weight type with force feeling through software, so that different types of people can operate the joystick mechanism according to own driving habits.
In the embodiment, the joystick control system is defaulted to a right-hand mode, and the right-hand mode and a left-hand mode are different in that the first joystick and the second joystick perform different functions, and the function of the first joystick in the right-hand mode is the same as that of the second joystick in the left-hand mode, and similarly, the function of the second joystick in the right-hand mode is the same as that of the first joystick in the left-hand mode, so that both right-handed and left-handed persons can better adapt to the joystick mechanism designed by the invention.
In an embodiment, the joystick control system defaults to a force-sensing-appropriate mode, wherein different force-sensing modes can be obtained by adjusting the currents of the coil 39, the coil 40, the coil 49 and the coil 50, wherein the current control rules of the coil 39, the coil 40, the coil 49 and the coil 50 in the force-sensing-appropriate mode are I1And I2The current control rules of the coils 39, 40, 49 and 50 in the light force sensing mode and the heavy force sensing mode are respectively set by I1And I2The control rule of (A) is obtained by linear transformation, the force feeling is light and convenientThe control rules of the coils 39, 40, 49 and 50 in the force sensing type are as follows:
I1q＝q1I1+q10
I2q＝q2I2+q20
I1c＝c1I1+c10
I2c＝c2I2+c20
in the formula: i is1qAnd I1cControl currents for coils 39, 40, 49, 50 in the light and heavy force-sensing types, respectively, I1Controlling the current for the coil 39 and coil 40 in the moderate force sense type, I2qAnd I2cControl currents for coils 39, 40, 49, 50 in the light and heavy force-sensing types, respectively, I2Control currents of the coil 49 and the coil 50 in the force-feeling moderated type; q. q.s1、q10、q2、 q20、c1、c10、c2And c20All the coefficients are constant coefficients and can be obtained by fitting according to the results of sampling investigation experimental data.
Referring to fig. 10, the joystick control system further comprises a fault tolerance mechanism:
when the control lever control system works in the B mode and any one of the conditions of failure of a certain control lever, failure of a certain steering motor, failure of a certain braking motor and failure of a certain driving motor occurs, the control lever control system immediately switches the B mode into the A mode and sends out an alarm signal to a driver. When a certain control lever fails or a certain rear wheel steering motor fails, the control lever control system is switched to a driving mode of front wheel steering four-wheel driving under the A mode, when the certain rear wheel driving motor fails, the control lever control system is switched to the driving mode of front wheel steering front wheel driving under the A mode, and when the certain front wheel driving motor fails, the control lever control system is switched to the driving mode of front wheel steering rear wheel driving under the A mode;
when the control system works in any mode, the steer-by-wire system takes an angle signal generated by the angle sensor 12 as a control signal, the angle sensor 13 is used for verifying a corner signal generated by the angle sensor 12, and when the angle sensor 12 fails, the steer-by-wire system takes the angle signal generated by the angle sensor 13 as a control signal; the brake-by-wire system and the drive-by-wire system use the angle signal generated by the angle sensor 14 as a control signal, use the signal generated by the angle sensor 15 as a check signal, and use the angle signal generated by the angle sensor 15 as a control signal when the angle sensor 14 fails, so that the safety of the drive-by-wire automobile is improved by the design scheme.
The above description is only an example of the present application and does not limit the scope of the present application, and it is obvious to those skilled in the art that various changes, such as changes in the mechanism size, can be made in the present application. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. An operating rod mechanism based on a wire control chassis is characterized by comprising an external box body (1), an internal box body (2), an operating handle (3), a first rotating wheel (4), a second rotating wheel (5), a third rotating wheel (6), a fourth rotating wheel (7), a first transmission shaft (8), a second transmission shaft (9), a third transmission shaft (10), a fourth transmission shaft (11), a first angle sensor (12), a second angle sensor (13), a third angle sensor (14), a fourth angle sensor (15), a first lithium battery (16), a second lithium battery (17) and a third lithium battery (18), wherein a placing groove (19) is formed in the middle of the external box body (1), the internal box body (2) is placed in the placing groove (19), the internal box body (2) is a cuboid, and a fifth transmission shaft (20) and a sixth transmission shaft (21) are symmetrically and fixedly connected to the outer walls of the two shorter ends of the internal box body (2), the fifth transmission shaft (20) and the sixth transmission shaft (21) are respectively hinged with a first transmission shaft (8) and a second transmission shaft (9) which are arranged on the inner side of the external box body (1), the internal box body (2) rotates left and right around the central axes of the first transmission shaft (8) and the second transmission shaft (9), the left end and the right end of the bottom of the control handle (3) are fixedly connected with a seventh transmission shaft (22) and an eighth transmission shaft (23), the seventh transmission shaft (22) and the eighth transmission shaft (23) are respectively fixedly connected with a third transmission shaft (10) and a fourth transmission shaft (11) which are arranged in the longer two ends of the internal box body (2) through locking nuts, and the control handle (3) rotates front and back around the central axes of the third transmission shaft (10) and the fourth transmission shaft (11);
a placing groove (19), a first circular groove (24), a second circular groove (25), a third circular groove (26), a fourth circular groove (27), a first square groove (28) and a second square groove (29) are formed in the external box body (1), and a first button (30), a second button (31), a third button (32) and a fourth button (33) are arranged on the external box body (1);
the storage box is characterized in that the storage groove (19) is positioned in the middle of the outer box body (1), the two shorter ends and the top surface of the storage groove are opened, the storage groove (19) is used for storing the inner box body (2) and enabling the inner box body (2) to have movement spaces of 100 degrees and 80 degrees respectively in the left-right direction and the front-back direction;
wherein the first circular groove (24) and the second circular groove (25) are respectively positioned on the front wall surface and the rear wall surface of the placing groove (19), the first circular groove (24) and the second circular groove (25) have the same size and shape, the diameter of the first circular groove is not less than 50mm, the length of the first circular groove is not less than 40mm, bearing holes are respectively formed in the plane walls of the first circular groove (24) and the second circular groove (25), a first bearing (34) and a second bearing (35) are respectively arranged in the respective bearing holes, the first rotating wheel (4) and the first transmission shaft (8) are arranged in the first circular groove (24), the first transmission shaft (8) is connected with the first rotating wheel (4) through a spline, the first transmission shaft (8) drives the first rotating wheel (4) to rotate around the central axis of the first circular groove (24), and the first transmission shaft (8) is fixed in the first circular groove (24) through the first bearing (34) and a third bearing (36), the structure of second circular recess (25) with the structure of first circular recess (24) is the same and internally mounted have second runner (5) with second transmission shaft (9), it is at least two pairs of first permanent magnet (38) to have at least one circular recess circular arc wall mounting in first circular recess (24) and second circular recess (25), the shape of first permanent magnet (38) is convex slice and concentric with first circular recess (24) and second circular recess (25), the material of first permanent magnet (38) is neodymium iron boron, the mounting means of first permanent magnet (38) in first circular recess (24) and second circular recess (25) is for bonding, first sealed lid (37) are installed to the outer port department in first circular recess (24), third bearing (36) are fixed in first sealed lid (37) center department, first sealed lid (37) lower part is opened the diameter and is the round hole of 2mm, a sealing plug is arranged in a round hole, the round hole is used for injecting and removing magnetorheological fluid into a first round groove (24), a first angle sensor (12) is arranged on the outer surface of a first sealing cover (37), the first angle sensor (12) is used for collecting rotation angle information of a first transmission shaft (8) and transmitting the rotation angle information to a wire-controlled chassis control system, a sealing cover and a second angle sensor (13) are also arranged at an opening of a second round groove (25), the structure of the sealing cover at the opening of the second round groove (25) is the same as that of the first sealing cover (37), and the second angle sensor (13) is used for collecting angle information of a second transmission shaft (9) and transmitting the angle information to the chassis control system;
the third circular groove (26) and the fourth circular groove (27) are respectively arranged on the outer sides of the first circular groove (24) and the second circular groove (25) and are concentric, a first coil (39) and a second coil (40) are respectively arranged inside the third circular groove (26) and the fourth circular groove (27), the first coil (39) is used for providing a variable magnetic field inside the first circular groove (24), the second coil (40) is used for providing a variable magnetic field inside the second circular groove (25), sealing covers are respectively arranged at openings of the third circular groove (26) and the fourth circular groove (27), and round holes passing through wires are respectively formed in the sealing covers;
the first button (30), the second button (31), the third button (32) and the fourth button (33) are positioned on one side of the outer box body (1) with an inclined plane, the first button (30) is a forward gear button, the second button (31) is a neutral gear button, the third button (32) is a reverse gear button, the fourth button (33) is a parking button, the first button (30) is a blue oval and represents power, the major axis of the oval is 16mm, and the minor axis of the oval is 10 mm; the second button (31) is a white square representing power interruption, and the four sides of the square are 12mm in length; the third button (32) is an orange circle, representing danger, said circle having a diameter of 10 mm; the fourth button (33) is a red semicircle representing parking, and the radius of the semicircle is 16 mm; the first button (30) is arranged at the leftmost side of the inclined plane, the second button (31), the third button (32) and the fourth button (33) are sequentially arranged at the right side of the inclined plane from left to right, and the distance between every two adjacent buttons is not less than 10 mm;
wherein the first square groove (28) and the second square groove (29) are respectively positioned below the first round groove (24) and the second round groove (25), the first lithium battery (16) and the second lithium battery (17) are respectively arranged on the first square groove (28) and the second square groove (29), the first lithium battery (16) and the second lithium battery (17) are used as standby batteries, when the electric quantity of the drive-by-wire chassis power battery is too low or when the chassis power battery fails to supply power to the first coil (39) and the second coil (40), the first lithium battery (16) and the second lithium battery (17) respectively supply power to the first coil (39) and the second coil (40), and simultaneously when the electric quantity of the first lithium battery (16) and the second lithium battery (17) is lower than 60% of the rated electric quantity, the chassis power battery can supply power to the chassis power battery until the electric quantity reaches 95% of the rated electric quantity, the driving safety of the drive-by-wire chassis automobile is improved, and round holes with the diameter of 3mm are formed in one sides, close to the placing groove (19), of the first square groove (28) and the second square groove (29) and used for allowing wires to pass through;
a fifth circular groove (41), a sixth circular groove (42), a seventh circular groove (43), an eighth circular groove (44) and a third square groove (45) are formed in the inner box body (2);
wherein fifth circular recess (41) and sixth circular recess (42) symmetrical position respectively are at the longer both ends of inside box (2), fifth circular recess (41) and sixth circular recess (42) are concentric and have at least two pairs of second permanent magnet (46) of being no less than on at least one circular recess inner wall, second permanent magnet (46) be arc slice and with fifth circular recess (41) and sixth circular recess (42) concentric, the material of second permanent magnet (46) is neodymium iron boron, install respectively in fifth circular recess (41) and sixth circular recess (42) third runner (6), third transmission shaft (10) and fourth runner (7), fourth transmission shaft (11), third runner (6) and third transmission shaft (10) mounting means and fourth runner (7) and fourth transmission shaft (11) mounting means and first runner (4) and first transmission shaft (8) in fifth circular recess (41) first circular recess (24) in first circular recess (24) mounting means and first runner (4) and first transmission shaft (8) of fourth runner (11) are in circular recess (41) mounting means and fourth runner (7) and fourth transmission shaft (11) are in circular recess (42) The mounting modes of the transmission mechanism are the same, a third sealing cover (47) and a fourth sealing cover (48) are respectively mounted at openings of a fifth circular groove (41) and a sixth circular groove (42), the third angle sensor (14) is mounted on the outer wall of the third sealing cover (47), the third angle sensor (14) is used for collecting angle information of a third transmission shaft (10) and transmitting the angle information to a chassis control system, the fourth angle sensor (15) is mounted on the outer wall of the fourth sealing cover (48), and the fourth angle sensor (15) is used for collecting angle information of a fourth transmission shaft (11) and transmitting the angle information to the chassis control system;
the seventh circular groove (43) and the eighth circular groove (44) are respectively positioned at the outer sides of the fifth circular groove (41) and the sixth circular groove (42) and are concentric, a third coil (49) and a fourth coil (50) are respectively arranged inside the seventh circular groove (43) and the eighth circular groove (44), and the third coil (49) and the fourth coil (50) respectively provide variable magnetic fields for the fifth circular groove (41) and the sixth circular groove (42);
the third square groove (45) is located in the middle of the inner box body, the third lithium battery (18) is installed in the third square groove (45), the third lithium battery (18) serves as a spare battery, when the electric quantity of the drive-by-wire chassis power battery is too low or when the power supply of the chassis power battery to the third coil (49) and the fourth coil (50) fails, the third lithium battery (18) provides electric energy for the third coil (49) and the fourth coil (50), and meanwhile, when the electric quantity of the third lithium battery (18) is lower than 60% of the rated electric quantity of the third lithium battery, the chassis power battery can provide power for the third lithium battery until the electric quantity of the third lithium battery reaches 95% of the rated electric quantity.
2. The control rod mechanism based on the drive-by-wire chassis is characterized in that the top end of the control handle (3) is designed with a control sphere, and a fifth button (51), a sixth button (52), a seventh button (53) and a ratchet wheel (54) are arranged on the control sphere;
a fifth button (51) and a sixth button (52) are arranged on the left side of the manipulating round ball, the fifth button (51) and the sixth button (52) are operated by the thumb, the fifth button (51) is circular in shape and has a diameter of 6mm for controlling a left turn light, and the sixth button (52) is circular in shape and has a diameter of 8mm for controlling a right turn light;
the ratchet wheel (54) is positioned on the right side of the control ball, the diameter of the ratchet wheel is 16mm, the ratchet wheel (54) is controlled by a thumb, an arc-shaped slide rheostat is arranged in the ratchet wheel (54), the ratchet wheel (54) is rotated to generate a variable electric signal to simulate the rotating angle of the ratchet wheel, the ratchet wheel (54) is used for adjusting the drive-by-wire suspension, the drive-by-wire chassis active suspension is smoothly changed between a comfortable type and a moving type by rotating the ratchet wheel (54), a graduated scale with the measuring range of 120 degrees and variable scales is arranged on the outer surface of the ratchet wheel (54), the comfortable type is represented by 0 degree on the graduated scale, the moving type is represented by 120 degrees on the graduated scale, and the scale theta on the graduated scale is represented by thetakComprises the following steps:
Figure FDA0003457914190000021
in the formula: thetakIs the scale of a graduated scale theta0The angle between the scale disc and the scale 0 is shown;
the seventh button (53) is positioned right in front of the operation ball and is controlled by the thumb, the seventh button (53) is used for switching a driving mode and a braking mode, when the seventh button (53) is pressed, the driving signal is cut off, the braking module is in effect, the seventh button (53) is restored, the braking signal is cut off, and the driving module is in effect.
3. The control rod mechanism based on the wire control chassis is characterized in that an arc-shaped groove is formed in the outer circle surface of the first rotating wheel (4) and used for placing a third permanent magnet (55), at least two pairs of the third permanent magnets (55) are symmetrically and uniformly distributed on the outer surface of the first rotating wheel (4), the third permanent magnets (55) are arc-shaped sheets and 3mm in thickness, the permanent magnets are fixed on the surfaces of the rotating wheels in an adhering or riveting mode, the first rotating wheel (4) is provided with a plurality of fan blades, each fan blade is at least provided with one hole, a splined hole is formed in the center of the first rotating wheel (4) and used for being installed on the first transmission shaft (8) and transmitting power with the first transmission shaft (8), the structures of the second transmission shaft (9) and the second rotating wheel (5) in the outer box body (1) and the structures of the third transmission shaft (10) and the third rotating wheel (6) in the inner box body (2) are the same as the structures of the first transmission shaft (8) and the first rotating wheel (4), is convenient for manufacturing and processing.
4. A control rod mechanism based on a wire controlled chassis according to claim 3, characterized in that the permanent magnet pairs installed on the inner surfaces of the first circular groove (24), the second circular groove (25) of the outer casing and the fifth circular groove (41) and the sixth circular groove (42) of the inner casing are the same as the permanent magnet pairs installed on the outer surfaces of the first rotating wheel (4), the second rotating wheel (5), the third rotating wheel (6) and the fourth rotating wheel (7), respectively, wherein the magnetic field strength generated by the two pairs of permanent magnets in the fifth circular groove (41) and the sixth circular groove (42) of the inner casing (2) is larger than the magnetic field strength generated by the two pairs of permanent magnets in the first circular groove (24) and the second circular groove (25) of the outer casing (1), and when the control rod is located at the initial position, the permanent magnets on the outer surfaces of the respective rotating wheels face the permanent magnets on the inner surfaces of the respective circular grooves, and the polarities of the adjacent permanent magnets are opposite, the polarities of the opposite permanent magnets are also opposite, when each rotating wheel rotates relative to the corresponding circular groove, the magnetic force action can enable the operating handle (3) to automatically return to the right, the interiors of the first circular groove (24), the second circular groove (25), the fifth circular groove (41) and the sixth circular groove (42) are filled with magnetorheological fluid, the damping of the magnetorheological fluid is changed by controlling the current of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50), and the current I of the first coil (39) and the second coil (40) is controlled according to the following formula1And a current I of the third coil (49) and the fourth coil (50)2To make the drive-by-wire chassis automobile return to the right quickly at low speed, return to the right without oscillation and overshoot at high speed, and to make the driver have better road feel, wherein I1And I2The values of (A) are:
Figure FDA0003457914190000031
Figure FDA0003457914190000032
in the formula: i is1For controlling currents of the first coil (39) and the second coil (40), I2A control current for the third coil (49) and the fourth coil (50); A. b, C, D, E, F, G is a constant coefficient obtained by test debugging; i ismax1Maximum current allowed for the first coil (39) and the second coil (40), Imax2The maximum current allowed for the third coil (49) and the fourth coil (50); k is a radical ofp、ki、kdFor PID control parameters, kp、ki、kdThe magnitude of the rotation angle theta of the first transmission shaft (8) along with the vehicle speed vxz1And fitting from experimental data; vx is the speed of the drive-by-wire chassis automobile; thetaz1Is the rotation angle of the first transmission shaft (8), and is positive anticlockwise,
Figure FDA0003457914190000033
is the rotational angular velocity of the first transmission shaft (8); f2A dynamic model of the damping force generated by the rotation of the first rotor in the first circular groove (24) in the magnetorheological fluid, F2And the control current I of the first coil (39)1And the rotational angular velocity of the first drive shaft (8)
Figure FDA0003457914190000034
Is obtained by fitting experimental data; ftSimulating a force for a desired road feel; f1The magnetic force generated by the interaction of the third permanent magnet (55) on the first rotating wheel (4) and the first permanent magnet (38) on the inner wall of the first circular groove (24) has a value which is in nonlinear correlation with the rotation angle of the first transmission shaft (8); thetaz2Is the rotation angle of the fourth transmission shaft (11),
Figure FDA0003457914190000035
the rotating angular speed of the fourth transmission shaft (11) is positive anticlockwise; thetaaAnd thetabIs constant and is obtained by test debugging.
5. A joystick control system comprising the chassis-by-wire based joystick mechanism of claim 4, wherein the chassis-by-wire based joystick control system comprises two joystick mechanisms, wherein the first joystick mechanism is located on the left side of the rider's seat and the second joystick mechanism is located on the right side of the rider's seat, and wherein the chassis-by-wire based joystick control system is software configured in two modes, mode a and mode B, wherein mode a is applicable to four types of all-wire chassis configurations, front-wheel steering rear-wheel drive, front-wheel steering front-wheel drive, front-wheel steering four-wheel drive, and four-wheel steering rear-wheel drive, and mode B is applicable to four-wheel independent drive, four-wheel independent steering, four-wheel independent brake, and four-wheel independent suspension all-wire chassis configurations.
6. The joystick control system according to claim 5, wherein only the second joystick mechanism is required to control the drive-by-wire chassis in the mode A, the electronic shift system of the drive-by-wire chassis receives the switch signals generated by the first button, the second button, the third button and the fourth button of the second joystick mechanism to switch gears, the drive system of the drive-by-wire chassis and the brake system of the drive-by-wire chassis receive the corner signal generated by the fourth transmission shaft of the second joystick mechanism and the switch signal generated by the seventh button to control the longitudinal speed of the vehicle, the drive-by-wire suspension system receives the angle signal generated by the ratchet wheel of the second joystick mechanism to control the comfort and the trafficability of the vehicle, the steer-by-wire system receives the angle signal generated by the first transmission shaft of the second joystick mechanism to control the lateral direction of the vehicle, and the first joystick mechanism in the mode A has the steering wheel of the second joystick mechanism, The first operating lever mechanism ensures that the drive-by-wire chassis automobile normally runs when the second operating lever mechanism fails;
the first operating lever mechanism and the second operating lever mechanism in the mode B are matched for use, the longitudinal motion of the full-wire-control chassis is controlled by a four-wheel independent driving system and a four-wheel independent braking system through a received corner signal generated by a fourth transmission shaft of the second operating lever mechanism and a received switch signal generated by a seventh button, the height of the chassis is controlled by a four-wheel independent suspension system through a received corner signal of a ratchet wheel (54) of the first operating lever mechanism, the comfort of the wire-control chassis automobile is controlled by the four-wheel independent suspension system through a received corner signal of a ratchet wheel of the second operating lever mechanism, the transverse control of the full-wire-control chassis is realized by the four-wheel independent steering system through a received switch signal generated by a seventh button (53) in the first operating lever mechanism, an angle signal generated by a first transmission shaft (8) of the first operating lever mechanism and an angle signal generated by a first transmission shaft of the second operating lever mechanism, when a seventh button (53) of the first joystick mechanism is not pressed down, the four-wheel independent steering system preferentially detects a corner signal of a first transmission shaft (8) of the first joystick mechanism to control the oblique movement of the automobile, when the corner signal of the first transmission shaft (8) of the first joystick mechanism does not exceed 2 degrees, the four-wheel independent steering system controls the all-wire control chassis to steer at a certain curvature radius through the received corner signal of the first transmission shaft of the second joystick mechanism, when the seventh button (53) of the first joystick mechanism is pressed down, the four-wheel independent steering system controls the all-wire control chassis to steer around the geometric center of the all-wire control chassis in situ through the received corner signal of the first transmission shaft (8) of the first joystick mechanism and the received corner signal of the first transmission shaft of the second joystick mechanism, wherein when the two joysticks steer around the respective fifth transmission shafts to the inner side of the driving position simultaneously, the pivot steering direction is anticlockwise, when the two control levers simultaneously steer around the respective fifth transmission shafts to the outside of the driving position, the pivot steering direction is clockwise, and the angular velocity around the pivot steering is as follows:
Figure FDA0003457914190000041
in the formula: w is aiIs the angular velocity of the wire-controlled base plate rotating around its geometric center, the counterclockwise direction is positive, the unit is degree per second, w0For the initial value of the angular velocity of rotation of the wire-controlled base plate around its geometric center, R is the gain factor, thetai1Is the rotation angle of a first transmission shaft (8) of the first operating lever mechanism, and is positive anticlockwisei2The rotation angle of the first transmission shaft of the second operating lever mechanism is positive anticlockwise.
7. The joystick control system of claim 6, wherein the chassis-by-wire based joystick system sets the joystick mechanism to a right-hand mode and a left-hand mode by software, and further sets the joystick mechanism to a light-weight-feeling type, a medium-weight-feeling type, and a heavy-weight-feeling type by software, and different types of people manipulate the joystick mechanism according to their driving habits;
the control system of the control lever defaults to a right-hand mode, the right-hand mode is a working relation and a control effect between the first control lever and the second control lever, the control effect of the first control lever in the left-hand mode is equal to the working effect of the second control lever, and the working effect of the second control lever in the left-hand mode is equal to the control effect of the first control lever;
the joystick control system defaults to a force sensing medium mode, and different force sensing modes are obtained by adjusting the currents of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50), wherein the current control rules of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50) in the force sensing medium mode are the same as the current control rules of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50) in the force sensing medium mode1And I2The current control rules of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50) in the force-sensing light type mode and the force-sensing heavy type mode are respectively I1And I2The control rule of (1) is obtained by linear transformation, and the control rules of the first coil (39), the second coil (40), the third coil (49) and the fourth coil (50) in the light force feeling type and the heavy force feeling type are as follows:
I1q＝q1I1+q10
I2q＝q2I2+q20
I1c＝c1I1+c10
I2c＝c2I2+c20
in the formula: i is1qAnd I1cA first coil (39), a second coil (40) and a second coil (40) under the light type and the heavy type of force sensing respectivelyControl currents of the three coils (49) and the fourth coil (50), I1Controlling the current for the first coil (39) and the second coil (40) in the moderate force sense type, I2qAnd I2cControl currents of a first coil (39), a second coil (40), a third coil (49) and a fourth coil (50) under a light force-sensing type and a heavy force-sensing type, respectively, I2Control currents of the third coil (49) and the fourth coil (50) in the force sensing medium; q. q.s1、q10、q2、q20、c1、c10、c2And c20All the coefficients are constant coefficients and are obtained by fitting according to the results of sampling investigation experimental data.
8. The joystick control system of claim 7, further comprising a fault tolerance mechanism:
when the control lever control system works in a mode B and any one of the conditions of failure of a certain control lever, failure of a certain steering motor, failure of a certain braking motor and failure of a certain driving motor occurs, the control lever control system immediately switches the mode B into the mode A and sends an alarm signal to a driver, wherein when the control lever fails or the rear wheel steering motor fails, the control lever control system is switched into a driving mode of front wheel steering four-wheel driving under the mode A, when the rear wheel driving motor fails, the control lever control system is switched into a driving mode of front wheel steering front wheel driving under the mode A, and when the control lever control system fails, the control lever control system is switched into a driving mode of front wheel steering rear wheel driving under the mode A;
when the control lever control system works in any mode, the steer-by-wire system takes an angle signal generated by a first angle sensor (12) as a control signal, a second angle sensor (13) is used for verifying a corner signal generated by the first angle sensor (12), and when the first angle sensor (12) fails, the steer-by-wire system takes an angle signal generated by the second angle sensor (13) as a control signal; the brake-by-wire system and the drive-by-wire system use the angle signal generated by the third angle sensor (14) as a control signal, use the signal generated by the fourth angle sensor (15) as a check signal, and use the angle signal generated by the fourth angle sensor (15) as a control signal when the third angle sensor (14) fails.
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