CN201907555U - Control-by-wire wheel independent steering actuating mechanism and wheel assembly - Google Patents
Control-by-wire wheel independent steering actuating mechanism and wheel assembly Download PDFInfo
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Abstract
本实用新型公开了线控车轮独立转向执行机构及车轮总成。线控车轮独立转向执行机构包括转向器、下主销、主销推力轴承、2个结构相同的主销滑动轴承、上主销、转向电机和光电编码器组合单元及转矩传感器。转向电机的输出轴与转向器输入轴采用联轴器连接,转向器的输出轴通过上主销与转矩传感器的一端为键连接,转矩传感器的另一端则与下主销为键连接,上主销的下端套装有主销滑动轴承为动配合,下主销上由上至下依次套装有结构相同的主销滑动轴承与主销推力轴承为动配合。车轮总成包括轮胎、轮辋、环形轮毂电机、制动器、环形制动盘和线控车轮独立转向执行机构。环形轮毂电机由环形轮毂电机外转子、大径圆锥滚子轴承和转向节及电机内定子组件组成。
The utility model discloses a wire-controlled wheel independent steering executive mechanism and a wheel assembly. The wheel-by-wire independent steering actuator includes a steering gear, a lower kingpin, a kingpin thrust bearing, two kingpin sliding bearings with the same structure, an upper kingpin, a combination unit of a steering motor and a photoelectric encoder, and a torque sensor. The output shaft of the steering motor and the input shaft of the steering gear are connected by a coupling, the output shaft of the steering gear is connected with one end of the torque sensor through the upper king pin as a key, and the other end of the torque sensor is connected with the lower king pin as a key. The lower end of the upper kingpin is fitted with a kingpin sliding bearing for dynamic fit, and the lower kingpin is fitted with a kingpin sliding bearing with the same structure from top to bottom successively and is a dynamic fit with the kingpin thrust bearing. The wheel assembly includes tires, rims, ring hub motors, brakes, ring brake discs and wheel-by-wire independent steering actuators. The ring hub motor is composed of the outer rotor of the ring hub motor, the large diameter tapered roller bearing, the steering knuckle and the inner stator assembly of the motor.
Description
技术领域technical field
本实用新型涉及一种应用于汽车车轮上的转向执行机构,更具体地说,它涉及一种可实现每个车轮独立转动的线控车轮独立转向执行机构及采用这种线控车轮独立转向执行机构的车轮总成。The utility model relates to a steering executive mechanism applied to automobile wheels, more specifically, it relates to a wire-controlled wheel independent steering actuator that can realize independent rotation of each wheel and adopts the wire-controlled wheel independent steering execution mechanism. Mechanism wheel assembly.
背景技术Background technique
传统转向系统(机械式、液压助力或电动助力转向系统)能够保证汽车按照驾驶员的意志进行转向行驶,但由于其转向传动比固定,汽车的转向响应特性随车速和方向盘转角而变化。因此驾驶员就必须针对车辆转向响应特性的变化进行一定的操作补偿,这在很大程度上影响了汽车的操纵稳定性,增加了驾驶员的负担。另外,传统转向系统中左右两侧车轮的运动是同向的且转向角度一定,难以满足现代汽车高机动性的要求。伴随着汽车技术和电子技术的飞速发展,线控转向的概念应运而生。汽车线控转向系统取消了方向盘和转向车轮之间的机械连接,完全摆脱了传统转向系统的各种限制,它可以自由设计汽车转向系统的力传递特性和角传递特性,给汽车转向特性的设计带来很大的发展空间。Traditional steering systems (mechanical, hydraulic or electric power steering systems) can ensure that the car turns according to the driver's will, but because of its fixed steering ratio, the car's steering response characteristics vary with vehicle speed and steering wheel angle. Therefore, the driver must perform some operation compensation for the change of the steering response characteristic of the vehicle, which affects the handling stability of the vehicle to a large extent and increases the driver's burden. In addition, the movement of the left and right wheels in the traditional steering system is in the same direction and the steering angle is fixed, which is difficult to meet the high mobility requirements of modern vehicles. With the rapid development of automobile technology and electronic technology, the concept of steering by wire came into being. The steering-by-wire steering system of the car cancels the mechanical connection between the steering wheel and the steering wheel, and completely gets rid of various restrictions of the traditional steering system. Bring a lot of room for development.
目前,一些知名的汽车制造商和研究学者都对线控转向系统进行了深入的研究并将其应用于概念车中,如宝马公司开发的“Z22”概念车、丰田公司开发的“Lexus HPX”概念车、戴姆勒-克莱斯勒公司开发的“R129”概念车、通用公司开发的“Hy-wire”概念车和“Sequel”概念车等。At present, some well-known automobile manufacturers and research scholars have carried out in-depth research on the steer-by-wire system and applied it to concept cars, such as the "Z22" concept car developed by BMW and the "Lexus HPX" developed by Toyota. Concept cars, the "R129" concept car developed by DaimlerChrysler, the "Hy-wire" concept car and the "Sequel" concept car developed by General Motors, etc.
对于传统的前轮转向系统,当汽车转向时由驾驶员转动方向盘带动转向器、转向传动机构,使前轮绕转向主销转动一定的角度。在这个过程中,由于前轮绕转向主销转动使汽车转向,故前轮是转向轮。这种传统的转向方式被称作前轮转向。汽车前轮转向后轮不转向,使得前、后轮运动轨迹不协调,导致汽车低速行驶时转向响应慢,回转半径大,转向不灵活;高速转向行驶时方向稳定性差、轮胎磨损严重。随着对汽车的驾驶性能和舒适性能的要求提高,四轮转向已经成为四轮汽车技术的发展方向。汽车的四轮转向是指后轮也和前轮相似,具有一定的转向功能,不仅可以与前轮同方向转向,也可以与前轮反方向转向。四轮转向可以增强汽车在高速行驶或者在侧向风力作用下的操纵稳定性、汽车的转向机动性、行驶安全性及改善低速时的操纵稳定性。For the traditional front-wheel steering system, when the car turns, the driver turns the steering wheel to drive the steering gear and the steering gear, so that the front wheels rotate around the steering kingpin at a certain angle. In this process, since the front wheels turn around the steering kingpin to turn the car, the front wheels are steering wheels. This traditional steering method is called front wheel steering. The front wheels of the car turn to the rear wheels without turning, which makes the trajectory of the front and rear wheels uncoordinated, resulting in slow steering response, large turning radius, and inflexible steering when the car is running at low speeds; poor directional stability and severe tire wear when turning at high speeds. Along with the improvement to the requirement of driving performance and comfort performance of automobile, four-wheel steering has become the development direction of four-wheel vehicle technology. The four-wheel steering of a car means that the rear wheels are also similar to the front wheels and have a certain steering function. They can not only steer in the same direction as the front wheels, but also turn in the opposite direction to the front wheels. Four-wheel steering can enhance the steering stability of the car at high speeds or under the action of side wind, the steering maneuverability of the car, driving safety and improve the handling stability at low speeds.
目前已经有部分高档轿车采用了四轮转向系统,如宝马新7系、日产风雅350GT、马自达929型等轿车。At present, some high-end cars have adopted the four-wheel steering system, such as BMW's new 7 series, Nissan Fengya 350GT, Mazda 929 and other cars.
但目前还没有将线控转向执行机构集成在车轮内部来实现左右转向轮或四个车轮独立转动的功能,以使车辆完成一些如四轮转向、原地转向等特殊的行驶工况。However, at present, there is no steering-by-wire actuator integrated in the wheels to realize the function of the left and right steering wheels or the independent rotation of the four wheels, so that the vehicle can complete some special driving conditions such as four-wheel steering and in-situ steering.
发明内容Contents of the invention
本实用新型所要解决的技术问题是克服了现有技术存在的问题,提供了一种线控车轮独立转向执行机构及采用这种线控车轮独立转向执行机构的车轮总成。The technical problem to be solved by the utility model is to overcome the problems existing in the prior art, and provide a wire-controlled wheel independent steering actuator and a wheel assembly using the wire-controlled wheel independent steering actuator.
为解决上述技术问题,本实用新型是采用如下技术方案实现的:所述的线控车轮独立转向执行机构包括转向器、下主销、主销推力轴承、2个结构相同的主销滑动轴承、上主销、转向电机和光电编码器组合单元及转矩传感器。In order to solve the above-mentioned technical problems, the utility model is realized by adopting the following technical scheme: the described wire-controlled wheel independent steering actuator includes a steering gear, a lower kingpin, a kingpin thrust bearing, two kingpin sliding bearings with the same structure, Combination unit of upper king pin, steering motor, photoelectric encoder and torque sensor.
转向电机和光电编码器组合单元中的转向电机的输出轴与转向器输入轴采用联轴器连接。转向器的输出轴通过上主销与转矩传感器的一端为键连接,转矩传感器的另一端则与下主销为键连接。上主销的下端套装有结构相同的主销滑动轴承为动配合。下主销由上至下依次套装有结构相同的主销滑动轴承与主销推力轴承为动配合。The output shaft of the steering motor in the combined unit of the steering motor and the photoelectric encoder is connected with the input shaft of the steering gear by a coupling. The output shaft of the steering gear is keyed to one end of the torque sensor through the upper kingpin, and the other end of the torque sensor is keyed to the lower kingpin. The lower end of the upper kingpin is equipped with a kingpin sliding bearing with the same structure as a dynamic fit. The lower kingpin is fitted with kingpin sliding bearings with the same structure from top to bottom successively, and the kingpin thrust bearing is a dynamic fit.
技术方案中所述的转向器包括蜗轮轴、蜗轮蜗杆轴密封圈、2个结构相同的蜗轮蜗杆轴承、蜗轮、转向器下壳体、转向器上壳体、蜗杆及端盖。蜗轮轴通过2个结构相同的蜗轮蜗杆轴承安装在转向器下壳体与转向器上壳体上,并穿过安装有蜗轮蜗杆轴密封圈的端盖的中心孔。蜗轮通过键与2个结构相同的蜗轮蜗杆轴承之间的蜗轮轴连接。蜗杆通过2个结构相同的轴承安装在转向器下壳体与转向器上壳体上并与蜗轮啮合连接。转向器上壳体与转向器下壳体之间和端盖与转向器下壳体之间采用螺栓连接。蜗轮轴与蜗杆的回转轴线交叉垂直。The steering gear described in the technical solution includes a worm gear shaft, a worm gear shaft sealing ring, two worm gear bearings with the same structure, a worm wheel, a lower housing of the steering gear, an upper housing of the steering gear, a worm, and an end cover. The worm gear shaft is installed on the lower casing of the steering gear and the upper casing of the steering gear through two worm gear and worm bearings with the same structure, and passes through the central hole of the end cover where the sealing ring of the worm gear and worm shaft is installed. The worm gear is connected with the worm gear shaft between two worm gear and worm bearings with the same structure through a key. The worm is installed on the lower casing of the steering gear and the upper casing of the steering gear through two bearings with the same structure and meshed with the worm gear. Bolts are used between the upper casing of the steering gear and the lower casing of the steering gear and between the end cover and the lower casing of the steering gear. The shaft of the worm gear is perpendicular to the axis of rotation of the worm.
所述的采用线控车轮独立转向执行机构的车轮总成包括轮胎、轮辋、环形轮毂电机、制动器、环形制动盘和线控车轮独立转向执行机构。The wheel assembly adopting the wire-controlled wheel independent steering actuator includes tires, rims, annular hub motors, brakes, annular brake discs and wire-controlled wheel independent steering actuators.
环形轮毂电机由环形轮毂电机外转子、2个结构相同的大径圆锥滚子轴承和转向节及电机内定子组件组成。环形轮毂电机外转子通过2个结构相同的大径圆锥滚子轴承套装在转向节及电机内定子组件上。环形制动盘固定在环形轮毂电机外转子左端面上,环形制动盘与轮辋上的轮辐板的右端面固定连接。轮胎套装在轮辋上。线控车轮独立转向执行机构通过其中的上主销与下主销和转向节及电机内定子组件中的转向节分别为动配合与键连接。The ring hub motor is composed of the outer rotor of the ring hub motor, two large-diameter tapered roller bearings with the same structure, a steering knuckle and the inner stator assembly of the motor. The outer rotor of the ring hub motor is set on the steering knuckle and the inner stator assembly of the motor through two large-diameter tapered roller bearings with the same structure. The annular brake disc is fixed on the left end surface of the outer rotor of the annular hub motor, and the annular brake disc is fixedly connected with the right end surface of the spoke plate on the wheel rim. The tire fits on the rim. The wheel-by-wire independent steering actuator is respectively dynamically fitted and keyed through the upper kingpin, the lower kingpin, the steering knuckle and the steering knuckle in the inner stator assembly of the motor.
技术方案中上主销与转向器输出轴的键链接、上主销与转矩传感器一端的键链接、转矩传感器另一端与下主销的键链接和下主销的下端与套装在其上的转向节及电机内定子组件中转向节的键连接均为过盈配合。In the technical solution, the key link between the upper kingpin and the output shaft of the steering gear, the key link between the upper kingpin and one end of the torque sensor, the key link between the other end of the torque sensor and the lower kingpin, and the lower end of the lower kingpin and the sleeve on it The key connection of the steering knuckle and the steering knuckle in the inner stator assembly of the motor is an interference fit.
与现有技术相比本实用新型的有益效果是:Compared with the prior art, the beneficial effects of the utility model are:
1.本实用新型所述的线控车轮独立转向执行机构既可以像传统的非驱动转向桥转向节一样与车轮及制动系执行机构相连,实现线控转向功能;也可以像本实用新型中所提出的与电动轮相配合,构成集驱动、制动和转向为一体的独立电动车轮总成,这样可以大大简化车身结构,便于电动车电池的布置1. The steering-by-wire independent wheel steering actuator described in the utility model can be connected with the wheel and the brake system actuator like the traditional non-driven steering axle steering knuckle to realize the steering-by-wire function; The proposed one cooperates with the electric wheel to form an independent electric wheel assembly integrating driving, braking and steering, which can greatly simplify the body structure and facilitate the arrangement of electric vehicle batteries
2.车辆如果装有4个本实用新型所述的线控车轮独立转向执行机构,就可以单独控制每个车轮的转向角度。除了完成传统车辆转向系统的功能外,还能够根据车辆状态适当地转动后轮实现四轮转向,以提高车辆高速行驶的稳定性、低速行驶的机动性。在此基础上,如果后轮转角与前轮相同,那么车辆就可以斜线行驶,使泊车更容易。另外,四个车轮相向转动使车轮平面分别垂直于四个车轮接地点的对角线时,车辆就可以实现原地转向。同样地,各车轮沿上述方向继续转动至车轮平面与车辆纵轴垂直时,车辆即可实现平移行驶。这些特殊工况的实现大大降低了驾驶员的负担,提高了车辆的主动安全性、操纵稳定性及转向机动性。2. If the vehicle is equipped with four wire-controlled wheel independent steering actuators described in the utility model, the steering angle of each wheel can be individually controlled. In addition to completing the functions of the traditional vehicle steering system, it can also properly turn the rear wheels according to the vehicle state to realize four-wheel steering, so as to improve the stability of the vehicle at high speeds and the maneuverability of low speeds. On this basis, if the rear wheels turn at the same angle as the front wheels, the vehicle can be driven diagonally, making parking easier. In addition, when the four wheels rotate in opposite directions so that the wheel planes are respectively perpendicular to the diagonals of the ground contact points of the four wheels, the vehicle can turn on the spot. Similarly, when each wheel continues to rotate along the above-mentioned direction until the plane of the wheel is perpendicular to the longitudinal axis of the vehicle, the vehicle can realize translational driving. The realization of these special working conditions greatly reduces the burden on the driver and improves the active safety, handling stability and steering maneuverability of the vehicle.
3.本实用新型所述的线控车轮独立转向执行机构集和在车轮中,车轮内的空间被合理利用,驱动、制动、转向系统及悬架集成度高。明显简化了车身结构,便于转向操纵机构等车内设备的布置。3. The wheel-by-wire independent steering actuator described in the utility model is integrated in the wheel, the space in the wheel is rationally utilized, and the driving, braking, steering system and suspension are highly integrated. The body structure is obviously simplified, which facilitates the arrangement of in-vehicle equipment such as the steering mechanism.
附图说明Description of drawings
下面结合附图对本实用新型作进一步的说明:Below in conjunction with accompanying drawing, the utility model is further described:
图1是采用本实用新型所述的线控车轮独立转向执行机构的车轮总成的结构原理的示意图;Fig. 1 is a schematic diagram of the structural principle of the wheel assembly using the wheel-by-wire independent steering actuator described in the present invention;
图2是采用本实用新型所述的线控车轮独立转向执行机构的车轮总成的结构组成的主视图;Fig. 2 is a front view of the structural composition of the wheel assembly adopting the wheel-by-wire independent steering actuator described in the utility model;
图3是本实用新型所述的线控车轮独立转向执行机构主视图上的全剖视图;Fig. 3 is a full sectional view on the front view of the wheel-by-wire independent steering actuator described in the utility model;
图4是本实用新型所述的线控车轮独立转向执行机构的工作逻辑框图;Fig. 4 is a working logic block diagram of the wheel-by-wire independent steering actuator described in the utility model;
图中:1.轮胎,2.轮辋,3.环形轮毂电机外转子,4.大径圆锥滚子轴承,5.转向节及电机内定子组件,6.线控车轮独立转向执行机构,7.制动器,8.环形制动盘,9.弹簧,10.减震器,11.悬架导向机构,12.下主销,13.主销推力轴承,14.主销滑动轴承,15.上主销,16.蜗轮轴,17.蜗轮蜗杆轴密封圈,18.蜗轮蜗杆轴承,19.蜗轮,20.转向器下壳体,21.转向器上壳体,22.转向电机和光电编码器组合单元,23.蜗杆,24.端盖,25.主销限位螺钉,26.转矩传感器。In the figure: 1. Tire, 2. Wheel rim, 3. Ring hub motor outer rotor, 4. Large-diameter tapered roller bearing, 5. Steering knuckle and motor inner stator assembly, 6. Wire-controlled wheel independent steering actuator, 7. Brake, 8. Annular brake disc, 9. Spring, 10. Shock absorber, 11. Suspension guiding mechanism, 12. Lower kingpin, 13. Kingpin thrust bearing, 14. Kingpin sliding bearing, 15. Upper kingpin Pin, 16. Worm gear shaft, 17. Worm gear shaft sealing ring, 18. Worm gear bearing, 19. Worm gear, 20. Steering gear lower housing, 21. Steering gear upper housing, 22. Combination of steering motor and photoelectric encoder Unit, 23. worm, 24. end cover, 25. kingpin limit screw, 26. torque sensor.
具体实施方式Detailed ways
下面结合附图对本实用新型作详细的描述:Below in conjunction with accompanying drawing, the utility model is described in detail:
参阅图1、图2和图3,本实用新型将所述的线控车轮独立转向执行机构6集成在车轮内部来实现左右转向轮或四个车轮独立转动的功能,以使车辆完成一些如四轮转向、原地转向等特殊的行驶工况。线控车轮独立转向执行机构6可以提高车辆的转向机动性、行驶安全性以及操纵稳定性。Referring to Fig. 1, Fig. 2 and Fig. 3, the utility model integrates the described wire-controlled wheel
本实用新型所述的线控车轮独立转向执行机构6包括转向电机和光电编码器组合单元22、转向器、转矩传感器26、上主销15、下主销12、2个结构相同的主销滑动轴承14以及主销推力轴承13,其中,转向器是结构与尺寸上经过改进的蜗轮蜗杆减速器。所采用的结构方案是由转向电机提供车辆转向的动力,光电编码器套装在电机输出轴上,电机输出轴与转向器输入轴即蜗杆23的一端用联轴器固定连接,转向器的输出轴即蜗轮轴16的一端与转矩传感器26的一端通过平键固定连接在上主销15的孔内,上主销15的上端装入转向节及电机内定子组件5中的转向节的上主销孔中为动配合。上主销15的下端套装有结构相同的主销滑动轴承14为动配合,套装在上主销15下端的结构相同的主销滑动轴承14装入悬架导向机构11的上、下横臂的叉形连接件的上主销孔中为动配合。转矩传感器26的另一端则通过平键连接在下主销12的孔内,下主销12由上至下依次套装有结构相同的主销滑动轴承14与主销推力轴承13为动配合,套装在下主销12上端的结构相同的主销滑动轴承14装入悬架导向机构11的上、下横臂的叉形连接件的下主销孔中为动配合。下主销12的下端则和转向节及电机内定子组件5中的转向节的下主销孔中为键连接。The wire control wheel
需要说明的是,该发明中为保证没有转向传动间隙,所用的键连接均属过盈配合。这样,转向电机输出的动力通过转向器、上主销15、转矩传感器26和下主销12传给转向节及电机内定子组件5。It should be noted that in this invention, in order to ensure that there is no steering transmission gap, the key connections used are all interference fits. In this way, the power output by the steering motor is transmitted to the steering knuckle and the
其中,转向电机的输出轴与转向器的输入轴即蜗杆23的一端连接后,用螺栓将转向电机固定在转向器上壳体21与转向器下壳体20上。悬架导向机构11的上、下横臂的叉形连接件上的和上主销15与下主销12配装的2个主销孔(叉形连接件的上主销孔与下主销孔)的对称轴线共线,并且2个主销孔是采用沿轴线分体对开式结构,以便于转矩传感器26、上主销15、下主销12、2个结构相同的主销滑动轴承14和主销推力轴承13的安装。线控车轮独立转向执行机构6通过悬架导向机构11和车架连接,所述的悬架导向机构11为双横臂独立悬架,上下横臂及套装有弹簧9的减震器10的一端分别与车身形成只有一个转动自由度的连接,减震器10的另一端与下横臂做转动连接。Wherein, after the output shaft of the steering motor is connected with the input shaft of the steering gear, that is, one end of the
安装时,在转向节及电机内定子组件5中的转向节的上、下主销孔的孔壁上的螺孔内分别拧入限位螺钉25以防上主销15与下主销12上下窜动。将上、下主销孔对开的另一部分用螺栓组合完整。调整蜗轮19和蜗杆23在转向器下壳体20中的位置,盖好转向器上壳体21,然后用螺栓将转向器上壳体21与转向器下壳体20固定连接。整个线控车轮独立转向执行机构6固定在悬架导向机构11的上、下横臂的叉形连接件上。During installation, in the screw holes on the hole walls of the upper and lower kingpin holes of the steering knuckle and the
所述的转向器包括蜗轮轴16、蜗轮蜗杆轴密封圈17、2个结构相同的蜗轮蜗杆轴承18、蜗轮19、转向器下壳体20、转向器上壳体21、蜗杆23及端盖24。The steering gear includes a
蜗轮轴16通过2个结构相同的蜗轮蜗杆轴承18安装在转向器下壳体20与转向器上壳体21上的轴承孔内并穿过安装有蜗轮蜗杆轴密封圈17的端盖24的中心通孔,套装在蜗轮轴16上的蜗轮蜗杆轴密封圈17的内环面与蜗轮轴16外圆柱面接触连接,蜗轮19通过键连接在2个结构相同的蜗轮蜗杆轴承18之间的蜗轮轴16上成固定连接,蜗杆23通过2个结构相同的轴承安装在转向器下壳体20与转向器上壳体21上的另两个轴承孔内并与蜗轮19啮合连接。转向器上壳体21与转向器下壳体20之间和端盖24与转向器下壳体20之间采用螺栓固定连接,蜗轮轴16与蜗杆23的回转轴线交叉垂直,蜗杆23的回转轴线与蜗轮19的对称平面(即与蜗轮回转轴线垂直的平面)共面。The
采用本实用新型所述的线控车轮独立转向执行机构6的车轮总成包括轮胎1、轮辋2、环形轮毂电机(环形轮毂电机外转子3、2个结构相同的大径圆锥滚子轴承4与转向节及电机内定子组件5)、线控车轮独立转向执行机构6、制动器7和制动盘8。The wheel assembly adopting the wire control wheel
轮胎1、制动盘8与轮辋2构成的车轮,其中,环形制动盘8与轮辋2上的轮辐板的右端面固定连接,环形的制动盘8通过螺栓固定在环形轮毂电机外转子3的左端面上。制动器7固定在转向节及电机内定子组件5中的电机内定子上。因为所有地面给车轮的反力及反力矩都要通过轮胎1、轮辋2、环形轮毂电机外转子3、转向节及电机内定子组件5、悬架导向机构11传递给车架。那么电机的环形轮毂电机外转子3与电机内定子就要经过结构强化,使其既能驱动车轮又能传递各个方向的力和力矩。这样,环形轮毂电机外转子3通过两个结构相同的大径圆锥滚子轴承4套装在电机内定子上以满足要求。为使结构紧凑,本实用新型将转向节和电机内定子集成在一起,转向节叉形结构件,转向节和电机内定子既可以制成两个件,再用螺栓将其固定连接,也可以制成一个件,使其形成转向节及电机内定子组件5。叉形的转向节的叉端分别加工一个用于安装线控车轮独立转向执行机构6的通孔即上主销孔与下主销孔,转向节上的上主销孔与下主销孔的对称轴线共线,并和垂直平面成5°至8°的角度。线控车轮独立转向执行机构6通过其中的上主销15与下主销12和转向节及电机内定子组件5中转向节上的上主销孔与下主销孔分别为动配合与键连接。当车轮转向时,转向节及电机内定子组件5绕上主销15和下主销12的中轴线旋转,其作用和传统车辆的转向节相同。转向器壳体固定在车架上。A wheel composed of a
线控车轮独立转向执行机构的工作原理:The working principle of the independent steering actuator of the wheel by wire:
对于线控转向系统的转向执行机构而言,其主要功能是用转向电机通过转向器等带动车轮轮毂电机内定子及整个车轮,完成驾驶员想要的、安全的转向运动。另外,由于其没有传统转向系统中与转向盘的机械连接,这就需要转向执行机构能够将必要的路面信息反馈给驾驶员,增强其路感而更易于安全驾驶。这些信息主要通过安装在转向器和转向节之间的转矩传感器26和安装在电机输出轴上的光电编码器来提供。转矩传感器26能够反映出实时的车轮转向阻力矩,光电编码器则能够反映出车轮转向角的大小。For the steering actuator of the steer-by-wire system, its main function is to use the steering motor to drive the inner stator of the wheel hub motor and the entire wheel through the steering gear to complete the safe steering movement desired by the driver. In addition, since there is no mechanical connection with the steering wheel in the traditional steering system, it is necessary for the steering actuator to be able to feed back the necessary road surface information to the driver, enhancing its sense of the road and making it easier to drive safely. These information are mainly provided by the
参阅图4,驾驶员操纵车辆时,线控转向系统的方向盘模块将驾驶员的方向盘转角输入和方向盘转矩输入信息送给电机控制器。电机控制器参考车辆的状态参数(如车速、横摆角速度等)以及转向执行机构的反馈信息(车轮转向角与车轮转向阻力矩)来控制转向电机以完成驾驶员的操作目的。与此同时,电机控制器还根据转向执行机构的反馈信息(车轮转向角与车轮转向阻力矩)来控制方向盘阻力模拟电机,增强驾驶员的路感。Referring to Fig. 4, when the driver steers the vehicle, the steering wheel module of the steer-by-wire system sends the driver's steering wheel angle input and steering wheel torque input information to the motor controller. The motor controller refers to the state parameters of the vehicle (such as vehicle speed, yaw rate, etc.) and the feedback information of the steering actuator (wheel steering angle and wheel steering resistance torque) to control the steering motor to complete the driver's operation purpose. At the same time, the motor controller also controls the steering wheel resistance simulation motor according to the feedback information (wheel steering angle and wheel steering resistance torque) of the steering actuator to enhance the driver's sense of road.
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Cited By (7)
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CN102069843A (en) * | 2011-01-05 | 2011-05-25 | 吉林大学 | Wire controlled wheel independent steering execution mechanism and wheel assembly |
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2011
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CN102069843A (en) * | 2011-01-05 | 2011-05-25 | 吉林大学 | Wire controlled wheel independent steering execution mechanism and wheel assembly |
CN102069843B (en) * | 2011-01-05 | 2012-11-07 | 吉林大学 | Wire controlled wheel independent steering execution mechanism and wheel assembly |
CN102582416A (en) * | 2012-02-16 | 2012-07-18 | 吉林大学 | Full line control electric vehicle with variable kinetic characteristics |
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CN102774269A (en) * | 2012-07-14 | 2012-11-14 | 盐城工学院 | Unequal double-wishbone suspension wheel side driving device capable of achieving large-angle steering |
CN102774269B (en) * | 2012-07-14 | 2015-09-30 | 盐城工学院 | A kind of Length discrepancy double wishbone suspension wheel hub drive realizing wide-angle and turn to |
CN103112493A (en) * | 2013-02-22 | 2013-05-22 | 同济大学 | Cable-driven steer-by-wire mechanism system for independent suspensions |
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