CN1931649A - String driven vehicle steering system and its control method - Google Patents
String driven vehicle steering system and its control method Download PDFInfo
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- CN1931649A CN1931649A CNA2005100216971A CN200510021697A CN1931649A CN 1931649 A CN1931649 A CN 1931649A CN A2005100216971 A CNA2005100216971 A CN A2005100216971A CN 200510021697 A CN200510021697 A CN 200510021697A CN 1931649 A CN1931649 A CN 1931649A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention discloses string driven vehicle steering system for the steering control of vehicle with both front wheels and rear wheels as the steering wheels. Each of the steering wheels corresponds to one wheel steering motor and one wheel steering gear. The steering includes normal steering and in-situ revolving, which includes the steps of the steering ECU controlled rotation of the steering motors to deflect the steering front wheel and rear wheel and the walking motor controlled rotation of the walking motor to rotate the steering wheels for in-situ revolving. The present invention has reduced steering radius.
Description
[technical field]
The present invention relates to a kind of steer-by-wire system that is applied on the automobile, relating in particular at four wheels all is that wheel flutter, steering swivel system pass steering swivel system to the automotive line that four wheels carry out independent steering control.
[background technology]
Steer-by-wire is the countries in the world auto vendor a kind of later-model motor turning electric-control system of falling over each other to research and develop in recent years.Automobile steer-by-wire technology is that the mechanical connection from the bearing circle to the steered wheel is disconnected, by the direction information that turns to control ECU (ECU (Electrical Control Unit)) reception from bearing circle, and steering order sent to motor, drag wheel by motor drive actuator (normally rack-and-gear) action again, thereby realize turning to function.
The steer-by-wire technology has been removed most of physical construction of orthodox car steering swivel system, and the steering swivel system total weight is reduced, and drives the space and strengthens, and makes chaufeur feel more comfortable, and has removed hydraulic power-assisted steering, has reduced environmental pollution.
Yet the steer-by-wire system has just changed the method that realization turns to, and for chaufeur, its method of operating and general-utility car are similar substantially.Normally two of vehicle trailing wheels keep lock-out state in the position of straight-line travelling forward, and two front-wheels follow in real time that bearing circle rotates and deflection realizes turning to function.Traditional steer-by-wire technology comprises bearing circle, steering wheel position sensor, steering wheel torque sensor, bearing circle feedback motor, wheel flutter drive motor, wheel flutter torque sensor, steer wheel position sensor, wheel flutter, wheel flutter driving device, turns to electronic control unit (promptly turning to ECU).ECU is according to steering wheel position signal and vehicle speed signal, and ECU can calculate the steer wheel position signal of expectation, drives the wheel flutter drive motor by output wheel flutter motor drive signal, can realize the rotation of wheel flutter by steering transmission linkage.Utilize the steer wheel position signal to carry out controlled reset, realize that wheel flutter concerns that according to certain gear ratio following bearing circle rotates, and promptly turns to the wheel flutter drive motor.This steering swivel system, two front-wheels are driven by a stepping motor and a cover driving system does the rotation of current flow angle degree in the same way, when advancing the motor-driven front-wheel, two front-wheels center on the center rotation of two trailing wheel lines, rotating diameter is the distance of the center of two trailing wheel lines to headstock, rotating diameter is big, when steering angle is little, rotating diameter does not influence driving, but when steering angle is big, when for example reversing end for end, because rotating diameter is big, vehicle repeatedly need be turned to, advance and counter steering, back operation is brought inconvenience to the driver, and brings safety hazard.
Patent application document is that " automobile electronic steering device " (application number is " CN02148895.9 ", open day is on June 11st, 2003) in disclosed a kind of whole wheels automobile that all is wheel flutter, help reducing rotating diameter, run into and to carry out on narrow road surface turning to or when reversing end for end, still having inconvenience and safety hazard than wide-angle.
[summary of the invention]
Main purpose of the present invention is exactly in order to solve prior art problems, provide a kind of line of vehicles to pass steering swivel system, vehicle can be spinned in the original place, turning circle diameter is reduced to minimum, convenient turn to or reverse end for end, and make the vehicle can normal direction of rotation under the cruising state at narrow road section.
Another object of the present invention just provides a kind of rotating direction control method of steer-by-wire vehicle, vehicle can be spinned in the original place, turning circle diameter is reduced to minimum, convenient turn to or reverse end for end, and make the vehicle can normal direction of rotation under the cruising state at narrow road section.
For achieving the above object, a kind of line of vehicles that the present invention proposes passes steering swivel system, be used for front-wheel and trailing wheel are all turned to control as the vehicle of wheel flutter, comprise and turn to ECU (promptly turning to ECU (Electrical Control Unit)), be used to detect the steering wheel angle sensor of steering wheel angle, be used to control the wheel steering motor and the wheel steering transmission device of steering wheel angle, the mouth of described steering wheel angle sensor is coupled to and turns to ECU, the described ECU control wheel steering motor that turns to rotates, described wheel steering transmission device is transferred to wheel flutter with the moment of wheel steering motor, and described each wheel flutter is all independently controlled and turned to.
Described wheel steering transmission device comprises pinion and rack and retarder, and described pinion and rack links to each other with the tie rod arm of wheel flutter, and described retarder is connected between pinion and rack and the wheel steering motor.
Further improvement of the present invention is: also comprise mode-changeover device, the mouth of described mode-changeover device is coupled to and turns to ECU.
Of the present invention further the improvement is: also comprise angular-motion transducer, described angular-motion transducer is used to detect the angular displacement signal of each wheel flutter, and its mouth is coupled to and turns to ECU; The described ECU of turning to also comprises and is used for the port that links to each other with the movable motor controller.
The described ECU of turning to also comprises and is used for port that links to each other with abs controller and the port that is used for linking to each other with failure diagnostic apparatus.
For achieving the above object, a kind of line of vehicles that the present invention proposes passes rotating direction control method, be used for front-wheel and trailing wheel are all turned to control as the vehicle of wheel flutter, each wheel flutter of this vehicle is all independently controlled and is turned to, comprise normal direction of rotation step and the original place step of spinning, the described original place step of spinning may further comprise the steps:
A1, turn to ECU to control each wheel steering motor to rotate, make front-wheel and trailing wheel deflect into its longitudinal plane of symmetry and the tangent position of same circle as wheel flutter;
B1, movable motor controller control movable motor rotate, and wheel flutter are rotated, so that spin in the vehicle original place.
Further improvement of the present invention is: comprise that also control system is in the mode switch step of spinning and turn to pattern in normal direction of rotation pattern and original place.
Of the present invention further the improvement is: further comprising the steps of in steps A 1:
A2, angular-motion transducer detect the angular displacement signal of wheel flutter and output to and turn to ECU;
B2, turn to ECU to be positioned at described round tangent position according to each wheel flutter of setting, whether deflection puts in place to judge each wheel flutter, if do not have, then control the wheel steering motor and make wheel flutter continue deflection, if deflection puts in place, and execution in step C2 then;
C2, with wheel flutter locking, and turn to ECU to send the wheel flutter deflection signal that puts in place to movable motor.
Of the present invention further the improvement is: further comprising the steps of before steps A 1: whether the rotating speed that detects each wheel flutter is zero, if be zero, then if execution in step A1 non-vanishing, then waits for.
Further comprising the steps of after step C2: turn to the signal of ECU response from steering wheel angle sensor, and be transferred to the movable motor controller, the movable motor controller is according to the signal control wheel flutter while forward or reverse of steering wheel angle sensor.
It is characterized in that described normal direction of rotation step may further comprise the steps:
Whether A3, the rotating speed that detects each wheel flutter are zero, if be zero, then if execution in step B2 non-vanishing, then waits for;
B3, control bearing circle are got back to meta;
C3, control each wheel flutter and get back to meta;
D3, rear wheel lock is fixed on meta;
E3, send the wheel return to the movable motor controller and finish signal;
F3, enter front-wheel and follow the bearing circle mode of motion.
Further comprising the steps of:
A4, angular-motion transducer detect the angular displacement signal of wheel flutter and output to and turn to ECU;
B4, turn to ECU, judge that whether wheel flutter departs from the latched position that lock is set, if depart from, then controls the wheel steering motor wheel flutter is withdrawn into latched position according to the residing pattern that turns to of system.
The invention has the beneficial effects as follows: 1) vehicle front-wheel and trailing wheel all are set to wheel flutter, and each wheel flutter is by one group of wheel steering motor and wheel steering transmission mechanism control, by turning to ECU, can independently control wheel flutter, make front-wheel and trailing wheel can deflect into its longitudinal plane of symmetry and the tangent position of same circle, under the driving of movable motor, front-wheel and trailing wheel rotate simultaneously, be that wheel is walked along tangent line, thereby the center of circle of the circle that whole vehicle can be surrounded around front-wheel and trailing wheel longitudinal plane of symmetry is rotated, just spin in the original place, make the turning circle diameter of vehicle be reduced to minimum, convenient turn to or reverse end for end, and make the vehicle can normal direction of rotation under the cruising state at narrow road section.2) mode-changeover device is set, makes vehicle spin to turn between the pattern and switch convenient control in normal direction of rotation pattern and original place.3) no matter normal direction of rotation still is to spin in the original place, the rotating speed that all guarantees wheel before turning to earlier is zero, precise control and safety when guaranteeing to turn to.
Feature of the present invention and advantage will be elaborated in conjunction with the accompanying drawings by embodiment.
[description of drawings]
Fig. 1 is a steer-by-wire of the present invention system;
Fig. 2 is the control chart of the steer-by-wire system of a kind of embodiment of the present invention;
Fig. 3 is the control flow chart of the steer-by-wire system of a kind of embodiment of the present invention;
Fig. 4 is the deflection of wheel flutter when spin in the original place left and rotates scheme drawing;
Fig. 5 is the deflection of wheel flutter when spin in the original place to the right and rotates scheme drawing.
[specific embodiment]
Specific embodiment one, for the vehicle that two left and right sides front-wheels and two left and right sides trailing wheels are arranged, setting four wheels all is wheel flutter, wheel steering motor and wheel steering transmission device also have four groups, the corresponding wheel flutter of each group wheel steering motor and wheel steering transmission device, as Fig. 1, shown in 2, steering wheel angle, torque sensor 2 is arranged on the below of bearing circle 12, the rotation direction of perceived direction dish 12, angle and moment of torsion, steering wheel angle, the mouth of torque sensor 2 also is electrically connected with turning to ECU 10, and torque motor 3 also is installed in the below of bearing circle 12.Front-wheel 13 pairing wheel steering motors comprise stepper motor driver and stepping motor 4, the wheel steering transmission device comprises retarder 5 and transmission device 6, retarder 5 is connected between stepping motor and the transmission device 6, retarder 5 makes under the driving torque unmodified situation of wheel, reduce the driving torque of stepping motor, thereby reduce the volume of motor.Retarder 5 uses epicyclic reduction gear usually, and transmission device 6 uses rack and pinion drive mechanism usually, and rack and pinion drive mechanism links to each other with the tie rod arm of front-wheel.The output shaft of stepping motor is coaxial with the gear in the rack-and-gear transmission width of cloth, and tooth bar directly drags front-wheel deflection.Angular-motion transducer 9 links to each other with the wheel steering transmission device with the wheel steering motor, and the turned position of perception front-wheel, angular-motion transducer 9 also are electrically connected with turning to ECU 10.Another front-wheel also has above-mentioned identical steer-by-wire mechanism, and two trailing wheels 14 also have the steer-by-wire mechanism identical with front-wheel.The quantity that is wheel steering motor and wheel steering transmission device equates with the quantity of wheel flutter, and each group wheel steering motor and wheel steering transmission device are used to control the rotation of a wheel flutter.Turn to ECU 10 also to be electrically connected with movable motor actuator 11.Mode-changeover device 1 is arranged on the position of being convenient to driver's operation, and for example on the bearing circle, the mouth of mode-changeover device 1 is electrically connected with turning to ECU 10.
The wheel steering transmission device can also be the transmission device of circulating ball type, worm screw crank stylus pin formula.
As shown in Figure 2, angular-motion transducer 9 (being the rotary angle transmitter among Fig. 2) can also be with the corner information of detected each front-wheel, output to by current transducer 8 and to turn to ECU 10, angular-motion transducer 9 output be voltage signal, be converted into to send into again behind the current signal through a current transducer and turn to ECU 10 to sample.Because the installation site of angular-motion transducer 9 and movable motor actuator 11 are closer, movable motor drives car load and advances, it is high-power high-current equipment, if angular-motion transducer 9 is voltage signals, may be subjected to the interference of movable motor actuator, so voltage signal is converted to current signal.
Also further comprise a front wheel torque sensor 7, front wheel torque sensor 7 detects the moment of torsion of a front-wheel, and outputs to and turn to ECU.
Be illustrated in figure 2 as the control scheme drawing of steer-by-wire system, by mode-changeover device normal direction of rotation pattern and original place can be set and spin and turn to pattern.Turn to ECU to accept on-off signal from mode-changeover device, the normal deflection mode of decision vehicle operating under the cruising state still is the original place pattern of spinning.In normal deflection mode, the trailing wheel of automobile keeps lock-out state in the position of straight-line travelling forward, and two front-wheels follow in real time that bearing circle rotates and deflection realizes turning to function.Bearing circle deflection certain angle provides the expected value of two front-wheel deflection angles, direction of passage dish corner, torque sensor output to and turn to ECU, turn to the location information of two front wheel angles that ECU feeds back to the expected value of two front-wheel deflection angles and angular-motion transducer and current transducer to compare, form a closed loop position control system.And the operational torque of wheel torque sensor perceived direction dish, the expected value of bearing circle operational torque outputed to turn to ECU, the moment of coming the control torque motor by the pwm signal that turns to ECU output different duty, detect the output torque of torque motor with steering wheel angle, torque sensor, compare with the moment expected value again, form a closed loop Torque Control system.Turn to ECU mainly by coming the control step rotating speed of motor and turn to relatively motor driver output pulse signal and direction signal, thus the deflection speed and the deflecting direction of control wheel.
Under spin pattern in the original place, turn to the longitudinal plane of symmetry of four wheels of ECU control to be in the position tangent with same circle, the central axis of relative wheel intersects at the center of circle of this circle, and the longitudinal plane of symmetry of wheel is meant the vertical section perpendicular to the wheel center axis, and the position of wheel is shown in accompanying drawing 4,5.When angular-motion transducer (being four rotary angle transmitters among Fig. 2) detects each wheel flutter deflection puts in place, the signal output that all wheel flutter deflections are put in place is to turning to ECU, turn to ECU control step motor that all steered wheels are kept lock-out state in this position, turn to signal output that ECU puts all wheel flutter deflections in place to movable motor controller (be among Fig. 2 movable motor drive ECU), control is given the movable motor controller.In addition, turn to ECU also to have the CAN bus communication module, come to carry out data exchange with other parts.Turn to steering wheel angle and the torque signal of ECU acceptance, and give the movable motor controller by the CAN bus transfer, by the rotation direction that turn to control wheel of movable motor controller according to bearing circle with this signal from the steering wheel angle torque sensor.For detecting the rotating speed of wheel, turn to ECU also to have and abs controller bonded assembly port, this port is connected with abs controller by the CAN bus, thereby obtains the wheel speed information of four wheels.Abs controller is a kind of electrofluidic control device that prevents wheel lockup of general-duty on the automobile, to guarantee the road-holding property of automobile at glancing impact, avoids occurring losing phenomenons such as steering capability or whipping.Abs controller can detect the rotating speed of each wheel, regulates the braking force size of each wheel simultaneously.Four wheel speed signals are extremely important for the original place system of spinning, because, when carrying out mode switch, no matter be to switch to the original place pattern of spinning from normal deflection mode, still spin mode switch to normal deflection mode from the original place, the rotating speed that all must guarantee four wheels is zero, otherwise enters wait state.The logical CAN bus of movable motor controller obtains the status information of Vehicular turn from turning to ECU: be spin state, the normal transition condition in deflection state or the two states handoff procedure of original place.When transition condition, the movable motor controller must be controlled each movable motor and be in halted state.After wheel such as having only to deflect into the position, the movable motor controller could be controlled each movable motor and rotate.The state that spins in the original place, the angle of four wheels deflection puts in place, automobile be flicker or flicker then with turn to ECU irrelevant, determine by the movable motor controller fully.Turn to ECU also to have and failure diagnostic apparatus bonded assembly port, this port is connected with failure diagnostic apparatus by the CAN bus, by connect failure diagnostic apparatus on the CAN bus, comes the sensor of system is analyzed, and judges whether its work is normal.
Only need lock trailing wheel when cruising, the pattern of spinning in the original place needs four-wheel is all locked.Wheel can lock by a kind of mechanism, also can lock by the holding torque of stepping motor self, when promptly detecting wheel and leave latched position by angular-motion transducer, the signal output that wheel is left latched position turns to ECU just can the control step motor wheel be retracted latched position to turning to ECU.
The control flow chart of present embodiment may further comprise the steps as shown in Figure 3:
In step 100, the driver by the change-over switch of mode-changeover device can set need turn to pattern, the residing pattern that turns to of detecting pattern shifter, if spinning, the original place turns to pattern, then execution in step 101, if the normal direction of rotation pattern, then execution in step 110;
In step 101, whether the rotating speed that detects four wheels is zero, if be zero, then execution in step 102, if non-vanishing, then whether continuation wait and the continuous rotating speed that detects four wheels are zero;
In step 102, turn to ECU control bearing circle to get back to midway location, execution in step 103 then;
In step 103, turn to ECU control step motor to rotate and make two front-wheels return to midway location, execution in step 104 then;
In step 104, turn to four stepping motors of ECU control to rotate simultaneously, make four wheel flutters turn to the wheel position of the original place that sets when spinning, promptly the longitudinal plane of symmetry of four wheels is in the position tangent with same circle, the central axis of relative wheel intersects at the center of circle of this circle, and execution in step 105 then;
In step 105, whether deflection puts in place to utilize angular-motion transducer to detect all wheel flutters, if deflection puts in place, then execution in step 106, if do not have, then continues execution in step 104, the deflection of control wheel flutter;
In step 106, turn to stepping motor that ECU controls each wheel flutter that four steering wheel locks are fixed on the position of spinning, original place, execution in step 107 then;
In step 107, turn to ECU to send the wheel deflection signal that puts in place to the movable motor controller, and execution in step 108, give the movable motor controller with control, turn to step 100 then, continue the state of detecting pattern shifter.
When movable motor control wheel, turn to the signal of ECU response from steering wheel angle sensor, and pass through the CAN bus transfer to the movable motor controller, the movable motor controller is according to the signal control movable motor forward or reverse of steering wheel angle sensor, thereby control wheel flutter forward or reverse, as shown in Fig. 4,5, arrow is represented the rotation direction of wheel.
When vehicle is under the normal direction of rotation pattern, in step 110, whether the rotating speed that detects four wheels is zero, if be zero, then execution in step 111, if non-vanishing, then whether continuation wait and the continuous rotating speed that detects four wheels are zero;
In step 111, turn to ECU control bearing circle to get back to midway location, execution in step 112 then;
In step 112, turn to ECU control step motor to rotate and make four wheel flutters return to midway location, execution in step 113 then;
In step 113, turn to the stepping motor of two trailing wheels of ECU control that two rear wheel locks are fixed on the vehicle position of straight-line travelling forward, execution in step 114 then;
In step 114, turn to ECU to send the wheel return and finish signal to the movable motor controller, execution in step 115 then, enter two front-wheels and follow the subprogram of bearing circle motion, be normal deflection mode of the prior art, turn to step 100 then, continue the state of detecting pattern shifter.
No matter present embodiment under which kind of deflection mode, all utilizes angular-motion transducer to detect the angular displacement signal of wheel flutter and output to and turns to ECU; Turn to ECU according to the residing pattern that turns to of steer-by-wire system, judge whether wheel flutter departs from the latched position that sets,, then control the wheel steering motor wheel flutter is withdrawn into latched position if depart from.
Specific embodiment two, different with specific embodiment one be: in the middle of having one for vehicle front-wheel and about the situation of two trailing wheels, setting steering front wheel is one, turning to trailing wheel is two, also corresponding one group of wheel steering motor of each wheel flutter and wheel steering transmission device.Under spinned pattern in the original place, the longitudinal plane of symmetry of three wheels was in the position tangent with same circle, and the central axis of three wheels intersects at the center of circle of this circle.
Compared with prior art security of the present invention, reliability greatly improve, the stability of driving, flat Compliance and driver-operated road feel also have greatly improved.
Claims (12)
1. a line of vehicles passes steering swivel system, be used for front-wheel and trailing wheel are all turned to control as the vehicle of wheel flutter, comprise and turn to ECU, be used to detect the steering wheel angle sensor of steering wheel angle, be used to control the wheel steering motor and the wheel steering transmission device of steering wheel angle, the mouth of described steering wheel angle sensor is coupled to and turns to ECU, the described ECU control wheel steering motor that turns to rotates, described wheel steering transmission device is used for the moment of wheel steering motor is transferred to wheel flutter, it is characterized in that: described each wheel flutter is all independently controlled and is turned to.
2. line of vehicles as claimed in claim 1 passes steering swivel system, it is characterized in that: described wheel steering transmission device comprises pinion and rack and retarder, described pinion and rack links to each other with the tie rod arm of wheel flutter, and described retarder is connected between pinion and rack and the wheel steering motor.
3. line of vehicles as claimed in claim 1 passes steering swivel system, and it is characterized in that: also comprise mode-changeover device, the mouth of described mode-changeover device is coupled to and turns to ECU.
4. line of vehicles as claimed in claim 3 passes steering swivel system, and it is characterized in that: also comprise angular-motion transducer, described angular-motion transducer is used to detect the angular displacement signal of each wheel flutter, and its mouth is coupled to and turns to ECU; The described ECU of turning to also comprises and is used for the port that links to each other with the movable motor controller.
5. line of vehicles as claimed in claim 4 passes steering swivel system, it is characterized in that: the described ECU of turning to also comprises and is used for the port that links to each other with abs controller, with the port that is used for linking to each other with failure diagnostic apparatus.
6. a line of vehicles passes rotating direction control method, be used for front-wheel and trailing wheel are all turned to control as the vehicle of wheel flutter, each wheel flutter of this vehicle is all independently controlled and is turned to, comprise the normal direction of rotation step, it is characterized in that also comprising the original place step of spinning, the described original place step of spinning may further comprise the steps:
A1, turn to ECU to control each wheel steering motor to rotate, make front-wheel and trailing wheel deflect into its longitudinal plane of symmetry and the tangent position of same circle as wheel flutter;
B1, movable motor controller control movable motor rotate, and wheel flutter are rotated, so that spin in the vehicle original place.
7. line of vehicles as claimed in claim 6 passes rotating direction control method, it is characterized in that: comprise that also control system is in the mode switch step of spinning and turn to pattern in normal direction of rotation pattern and original place.
8. line of vehicles as claimed in claim 7 passes rotating direction control method, it is characterized in that: further comprising the steps of in steps A 1:
A2, angular-motion transducer detect the angular displacement signal of wheel flutter and output to and turn to ECU;
B2, turn to ECU to be positioned at described round tangent position according to each wheel flutter of setting, whether deflection puts in place to judge each wheel flutter, if do not have, then control the wheel steering motor and make wheel flutter continue deflection, if deflection puts in place, and execution in step C2 then;
C2, with wheel flutter locking, and turn to ECU to send the wheel flutter deflection signal that puts in place to movable motor.
9. line of vehicles as claimed in claim 8 passes rotating direction control method, it is characterized in that: further comprising the steps of before steps A 1: whether the rotating speed that detects each wheel flutter is zero, if be zero, then if execution in step A1 non-vanishing, then waits for.
10. line of vehicles passes rotating direction control method as claimed in claim 8 or 9, it is characterized in that: further comprising the steps of after step C2: turn to the signal of ECU response from steering wheel angle sensor, and being transferred to the movable motor controller, the movable motor controller is according to the signal control wheel flutter while forward or reverse of steering wheel angle sensor.
11. line of vehicles as claimed in claim 10 passes rotating direction control method, it is characterized in that described normal direction of rotation step may further comprise the steps:
Whether A3, the rotating speed that detects each wheel flutter are zero, if be zero, then if execution in step B2 non-vanishing, then waits for;
B3, control bearing circle are got back to meta;
C3, control each wheel flutter and get back to meta;
D3, rear wheel lock is fixed on meta;
E3, send the wheel return to the movable motor controller and finish signal;
F3, enter front-wheel and follow the bearing circle mode of motion.
12. line of vehicles as claimed in claim 11 passes rotating direction control method, it is characterized in that further comprising the steps of:
A4, angular-motion transducer detect the angular displacement signal of wheel flutter and output to and turn to ECU;
B4, turn to ECU, judge that whether wheel flutter departs from the latched position that lock is set, if depart from, then controls the wheel steering motor wheel flutter is withdrawn into latched position according to the residing pattern that turns to of system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100216971A CN1931649A (en) | 2005-09-14 | 2005-09-14 | String driven vehicle steering system and its control method |
| PCT/CN2006/002367 WO2007031017A1 (en) | 2005-09-14 | 2006-09-13 | A control system for pivot turn and thereof method and a automobile including the system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100216971A CN1931649A (en) | 2005-09-14 | 2005-09-14 | String driven vehicle steering system and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN1931649A true CN1931649A (en) | 2007-03-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2005100216971A Pending CN1931649A (en) | 2005-09-14 | 2005-09-14 | String driven vehicle steering system and its control method |
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| Country | Link |
|---|---|
| CN (1) | CN1931649A (en) |
| WO (1) | WO2007031017A1 (en) |
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| CN107776663A (en) * | 2016-08-31 | 2018-03-09 | 比亚迪股份有限公司 | Vehicle pivot steering system and vehicle and vehicle pivot stud control method |
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| US6879118B2 (en) * | 2001-02-06 | 2005-04-12 | Robert Bosch Gmbh | Method for position regulation of an electric drive and for steering a motor vehicle by means of a steer-by-wire system |
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