CN202987262U - Four-wheel independent steering-by-wire system with multiple-steering modal - Google Patents
Four-wheel independent steering-by-wire system with multiple-steering modal Download PDFInfo
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- CN202987262U CN202987262U CN 201220519322 CN201220519322U CN202987262U CN 202987262 U CN202987262 U CN 202987262U CN 201220519322 CN201220519322 CN 201220519322 CN 201220519322 U CN201220519322 U CN 201220519322U CN 202987262 U CN202987262 U CN 202987262U
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Abstract
A four-wheel independent steering-by-wire system with a multiple-steering modal aims at improving maneuvering characteristics and handing stability of vehicles. The system comprises a steering control mechanism, four steering motor controllers, a vehicle central controller, a modal-shifting device and a steering-operating mechanism. The vehicle central controller and four steering motor controllers receive and send orders and information through a controller area network (CAN) bus framework, the connecting wire end of an angle sensor of the steering-operating mechanism is connected with an electric wire of a connecting wire port of the vehicle central controller, and the connecting wire end of the sheering-operating mechanism is connected with the electric wire of the connecting wire port of the steering controller. The connecting wire end of the modal-shifting device is connected with the wire of the connecting wire port of the vehicle central controller. The modal-shifting device comprises four modal buttons which include a pivot steering button, a four-wheel steering button, a front two-wheel steering button and a diagonal sheering selector button. The sheering-operating mechanism comprises four steering motors, wherein the four steering motors control respectively steering angles of the four wheels. The vehicle central controller is provided with a pivot steering control program, a four-wheel steering control program, a front two-wheel steering control program and a diagonal quadruplet steering control program. A working mode of the steering system is determined through a high-level changing-over selecting executive program of four buttons.
Description
Technical field
The utility model relates to a kind of wire-controlled steering system that is applied on electronlmobil, and more particularly, it relates to a kind of multiple four-wheel independence wire-controlled steering system that turns to pattern that has.
Background technology
Traditional steering swivel system (mechanical type, hydraulic booster or electric boosting steering system) has developed comparative maturity, also is widely used in the modern vehicle system.But because its steering gear ratio is fixed, the steering response characteristic of automobile changes with the speed of a motor vehicle and steering wheel angle.Therefore chaufeur must change for the amplitude of the cornering properties of automobile and phase place and makes corresponding operation compensation, and this has affected vehicle handling stability and driver comfort to a great extent.Therefore along with the develop rapidly of automotive technology and Eltec, wire control technology arises at the historic moment.And present steering-by-wire technology majority is the single pattern that turns to, perhaps four-wheel steering, perhaps front-wheel steering, perhaps rear-axle steering, along with the increase of city vehicle recoverable amount, Vehicle Driving Cycle, the space of parking become more and more limited, and the operations such as the reversing of stopping all will be subjected to space constraint and become complicated, also more difficult, this has limited the maneuvering performance of vehicle under complex environment.Along with the in-depth study to automobile power theory and vehicle safety, need different verification experimental verification platforms for different steering swivel systems in addition, need to redesign and install steering swivel system.Even realized having two kinds or the two or more pattern that turns at same test platform by the physical construction of complexity, also have mechanism too complicated, the inertia of system own and damping all can be very large, affect experiment effect.And all there is a high drawback of cost.So have the multiple four-wheel independence wire-controlled steering system of mode switch function that turns to as the platform of theoretical investigation and theoretical validation in the urgent need to a, and simple in structure, and R﹠D costs are reasonable.The utility model is researched and developed for above-mentioned two demands just.The utility model has been realized the multiple simple switching that turns to pattern by the mode of software and hardware combining.Also there is no at present this precedent.
The utility model content
To be solved in the utility model is technology, the function problem of theoretical investigation and verification platform and the real vehicle application existence of present steering swivel system, and a kind of four-wheel independence wire-controlled steering system with multi-steering pattern is provided.Make its assurance have the multiple pattern that turns to, and simple in structure.In the real vehicle application facet, improved the maneuvering performance of vehicle under complex road condition, especially move backward and the parking stall of the finite space of parking on.Turn to the steering maneuver characteristic under pattern that desirable platform is provided for the research vehicle multiple simultaneously.
Consult Fig. 1, in order to address the above problem, the utility model adopts following technical scheme to be achieved.The utility model comprises steering control mechanism, four steer motor controllers, vehicle central controller, a mode-changeover device, turns to actuating unit.on existing wire control technology basis, turn to actuating unit to adopt four separate steered wheels, each wheel has a steer motor, each steer motor has a steering controller, four steering controllers CAN transceiver by separately receives the target rotation angle of four steer motor of controlling the distribution of controller from vehicle central from the CAN bus, and also can be to the work state information of CAN bus transmission self and steer motor, the vehicle central controller can send by the CAN transceiver target rotation angle of four steer motor to the CAN bus, and receive the work state information of four controllers and steer motor from the CAN bus.Turn to the terminals of mode switch button to be connected by electrical wiring to the terminals of vehicle central controller.
Steering swivel system described in the utility model comprises steer motor controller, steer motor, rotary angle transmitter, planetary gear type reduction gear, turning rack, the wheel set of each wheel; Pivot stud button, four-wheel steering button, front two-wheeled turn to button, diagonal button, vehicle central controller, steering control mechanism; The CAN bus.
the signal output part of the rotary angle transmitter of the steering control mechanism described in technical scheme is connected with the input end of analog signal (the A/D input port on controller) of vehicle central controller, the CAN transceiver of vehicle central controller receives the vehicle speed signal on the CAN line simultaneously, the terminals of pivot stud button are connected with the signal terminal I/O mouth of vehicle central controller, the terminals of four-wheel steering button are connected with the signal terminal I/O mouth of vehicle central controller, front two-wheeled turns to the terminals of button to be connected with the signal terminal I/O mouth of vehicle central controller, the terminals of diagonal button are connected with the signal terminal I/O mouth of vehicle central controller.Four wheel steering assemblies can be separate rotate around stub axle (the stub axle is perpendicular to the ground), rotate in+180 degree scopes at-180 degree allowing on physical construction.
the CAN transceiver of each steer motor controller described in technical scheme is connected to the CAN bus, the terminals of each steer motor connect with the Wiring port electric wire of corresponding steer motor controller, the rotor shaft of each steer motor is same axis with the mandrel of corresponding rotary angle transmitter, the signal output part of each rotary angle transmitter connects with the digital signal input end of corresponding steer motor controller, spline joint is adopted with the input shaft of corresponding planetary gear type reduction gear in the rotor shaft lower end of each steer motor, the output shaft of each planetary gear type reduction gear adopts keyway to connect with the stub axle of the upper end of corresponding turning rack, each wheel set is arranged on the axletree of corresponding turning rack.Each rotary angle transmitter housing, corresponding steer motor housing, corresponding planetary gear type reduction gear housing bolt captive joint, each planetary gear type reduction gear housing is with being bolted on vehicle frame.
Vehicle central described in technical scheme is controlled by the CAN transceiver and is connected with the CAN bus, and the CAN bus adopts the Double-strand transmission signal.
The housing lower end of four planetary gear type reduction gears described in technical scheme is fixedly connected on vehicle frame, and the stub axle of four turning racks adopts two pairs of tapered roller bearings to coordinate with stub housing on being fixed on vehicle frame.Four steer motor types are direct current torque motor, have the characteristics of the large torque of slow speed of revolution.
The beneficial effects of the utility model are:
1. aspect theory research, the utlity model has four wheels separate, four wheels all have steering capability, can control by software program the angle relation of four wheels, make system have the multiple pattern that turns to, can realize that difference turns to the research theory of pattern to be verified at same test platform.Four-wheel is separate simultaneously, each wheel can have different steering angle collocation, learn research for the steering maneuver of the high low speed of vehicle and built desirable experiment and theoretical validation platform, and realize the multiple pattern that turns to by software algorithm, can realize turning to pattern to switch by mode switch button, simple in structure, function realizes convenient, integrate many diversion experiments platforms, cheap.
2. in the real vehicle application facet, the utlity model has the multiple pattern that turns to, can realize turning headstock as pivot stud in the limited space of travelling, four-wheel steering can be realized quick steering in narrow turning road conditions, front two-wheeled turns to and can fully adapt to people's the custom that turns under normal running environment, and diagonal can realize parking on the parking stall of finite space.Based on the realization of above function, use real vehicle product of the present utility model and can more adapt to the complicated crowded road conditions in city, provide good solution route for solving the problems such as day by day serious crowded traffic, city parking limited space.
Description of drawings
Below in conjunction with accompanying drawing, the utility model is further described:
Fig. 1 is that (Fig. 1-b is the structure side view to the structural representation with four-wheel independence wire-controlled steering system of multi-steering pattern, i.e. B direction shown in Fig. 1-a; Fig. 1-a is the A direction shown in Fig. 1-b);
Fig. 2 is the angle relation schematic diagram of four wheels of pivot stud pattern;
Fig. 3 is the angle relation schematic diagram of four wheels of four-wheel steering pattern;
Fig. 4 is the angle relation schematic diagram that front two-wheeled turns to four wheels of pattern;
Fig. 5 is the angle relation schematic diagram of four wheels of diagonal pattern;
Fig. 6 is the control logic block diagram with four-wheel independence wire-controlled steering system of multi-steering pattern;
In Fig. 1:
the first wheel set 1, the first turning rack 2, the first planetary gear type reduction gear 3, the first steer motor 4, the first rotary angle transmitter (code-disc) 5, the second steer motor 6, the second rotary angle transmitter (code-disc) 7, the second planetary gear type reduction gear 8, the second turning rack 9, the second wheel set 10, method of three turning angles sensor (code-disc) 11, the 3rd steer motor 12, third planet gear type retarder 13, the 3rd wheel set 14, the 3rd turning rack 15, the 4th turning rack 16, the 4th wheel set 17, fourth planet gear type retarder 18, the 4th steer motor 19, the 4th rotary angle transmitter (code-disc) 20, vehicle frame 21 (dotted line represents not limiting structure form), the first steer motor controller 22, the second steer motor controller 23, the 3rd steer motor controller 24, the 4th steer motor controller 25, pivot stud button 26, four-wheel steering button 27, front two-wheeled turns to button 28, diagonal button 29, vehicle central controller 30, steering control mechanism 31.Steer motor position signal E, electric current I, the signal W that receives and dispatches between the CAN transceiver of steer motor controller and CAN bus, comprise steer motor target rotation angle signal and steer motor and steer motor controller working state signal, the signal Z that receives and dispatches between the CAN transceiver of vehicle central controller and CAN bus, the target rotation angle signal that comprises four steer motor, the working state signal of four steer motor and four steer motor controllers, vehicle speed signal, steering wheel angle signal and bearing circle dtc signal F, high/low level signal G.
In Fig. 2, Fig. 3, Fig. 4, Fig. 5:
Turning center O, the first wheel set 1, the second wheel set 10, the three wheel sets 14, the 4th wheel set 17.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is explained in detail:
consult Fig. 1, the technical solution adopted in the utility model is on existing wire control technology basis, adopt four separate wheels, each wheel has a steer motor, each steer motor has a steer motor controller, the target rotation angle of four wheels is calculated by the computer program in the vehicle central controller (control algorithm), then be converted into the target rotation angle of four steer motor, then send to four steer motor controllers, and the quadruplet computer program is arranged in the vehicle central controller, it is the pivot stud control program, the four-wheel steering control program, front two-wheeled turns to control program, the diagonal control program, be connected to four by the I/O mouth of vehicle central controller through signal wire (SW) and turn to mode button, press the model selection button by chaufeur and determine where the execution of vehicle central controller overlaps computer program, which kind of is namely carried out turn to pattern.And then reach target rotation angle by four steer motor controllers control steer motor.
Four-wheel independence wire-controlled steering system with multi-steering pattern is that mode- changeover device 26,27,28,29 turns to actuating unit by 31, four steer motor controllers 22 of steering control mechanism, 23,24,25, one vehicle central controllers 30.Wherein, steering control mechanism 30 comprises steering wheel assembly and various sensor.Steering wheel assembly is comprised of bearing circle and Steering gear, and steering wheel assembly is fixed in operator's compartment, steering wheel assembly can become with horizontal surface 30 the degree angle the space in freely rotate.The analog signal output of steering control mechanism 31 should be controlled 30 analog signal port electric wire with vehicle central and be connected, as steering wheel angle signal and dtc signal, because steering wheel angle signal F and dtc signal belong to analog signal;
The radical function of steering control mechanism 31 is to provide chaufeur driving environment and simulation road feel information (referring to be passed to by physical construction in the conventional steering device information of road surface of chaufeur).
Vehicle central controller 30 with steering control mechanism 31, four steer motor controllers, turn to actuating unit and mode-changeover device organically to be combined into a complete four-wheel independence wire-controlled steering system with multi-steering pattern.Vehicle central controller 30 is comprised of the computer program (control algorithm) of hardware components and designed, designed.Computer program is packed in micro controller system on vehicle central controller 30.The vehicle speed signal V that is sent by automobile is on the CAN line, the target rotation angle signal W of four steer motor that the vehicle central controller sends is digital signals, CAN transceiver on the vehicle central controller is connected to the CAN line, read vehicle speed signal from the CAN line, and send the target rotation angle signal of four steer motor to the CAN bus.CAN transceiver on four steer motor controllers is connected with the CAN bus, receives the target rotation angle signal of four steer motor from the CAN bus, and sends the mode of operation of four steer motor and four steer motor controllers to the CAN bus.The Wiring port of four steer motor controllers is connected with the Wiring port electric wire of four steer motor respectively, outgoing current I.The terminals of four rotary angle transmitters should be connected with the digital signal terminals of four steer motor controllers respectively, because the wheel steering angle signal that is recorded by rotary angle transmitter is digital signal.Four turn to the terminals of mode switch button to be connected with the I/O mouth of vehicle central controller 30, because be high/low level signal by turning to the signal that mode-changeover device sends.When chaufeur is pressed in four mode switch button one, port that this button connects can produce a high level, and (time of pressing due to the people can not be very short, so belong to the broad pulse high level signal), the I/O port of vehicle central controller 30 can receive high level signal, can make its inner micro controller system carry out the corresponding computer program that turns to pattern (control algorithm), thereby realize directly controlling by the driver function that turns to pattern.
Turning to actuating unit to include first (the near front wheel) turns to assembly, second (off front wheel) to turn to assembly, the 3rd (off hind wheel) to turn to assembly, the 4th (left rear wheel) to turn to assembly.Shown first turns to assembly to comprise the first steer motor controller 22, the first wheel set 1, the first turning rack 2, the first planetary gear type reduction gear 3, the first steer motor 4, the first rotary angle transmitter 5, the first wheel set 1 is arranged on the axletree of the first turning rack 2, its internal stator adopts bolt to captive joint with axletree, the stub axle of the first turning rack 2 is perpendicular to the ground, adopts keyway to captive joint with the output shaft of the first planetary gear type reduction gear 3.Stub housing on the stub axle external diameter of the first turning rack 2 and vehicle frame 21 adopts two pairs of tapered roller bearings to coordinate, the input shaft of the first planetary gear type reduction gear 3 and output shaft are on same axis, the input shaft of the first planetary gear type reduction gear 3 adopts spline to captive joint with the output shaft of the first steer motor 4, the rotor shaft of the mandrel of the first rotary angle transmitter 5 and the first steer motor 4 is same axises, the main pin axis of the first turning rack 2 perpendicular to the ground and ground connection trace center by the first wheel set 1.The terminals of the first rotary angle transmitter 5 are connected with the digital signal Wiring port of the first steer motor controller 22, and the terminals of the first steer motor 4 are connected with the Wiring port electric wire of the first steer motor controller 22.Shown second turns to assembly to comprise the second steer motor controller 23, the second wheel set 10, the second turning rack 9, the second planetary gear type reduction gear 8, the second steer motor 6, the second rotary angle transmitter 7, the second wheel set 10 is arranged on the axletree of the second turning rack 9, its internal stator adopts bolt to captive joint with axletree, the stub axle of the second turning rack 9 is perpendicular to the ground, adopts keyway to captive joint with the output shaft of the second planetary gear type reduction gear 8.The stub axle external diameter of the second turning rack 9 and the stub housing on vehicle frame 21 adopt two pairs of tapered roller bearings to be connected, the input shaft of the second planetary gear type reduction gear 8 and output shaft are on same axis, the input shaft of the second planetary gear type reduction gear 8 adopts spline to captive joint with the output shaft of the second steer motor 6, the rotor shaft of the mandrel of the second rotary angle transmitter 7 and the second steer motor 6 is same axises, the main pin axis of the second turning rack 9 perpendicular to the ground and ground connection trace center by the second wheel set 10.The terminals of the second rotary angle transmitter 7 are connected with the digital signal Wiring port of the second steer motor controller 23, and the terminals of the second steer motor 6 are connected with the Wiring port electric wire of the second steer motor controller 23.The shown the 3rd turns to assembly to comprise the 3rd steer motor controller 24, the 3rd wheel set 14, the 3rd turning rack 15, third planet gear type retarder 13, the 3rd steer motor 12, method of three turning angles sensor, the 3rd wheel set 14 is arranged on the axletree of the 3rd turning rack 15, its internal stator adopts bolt to captive joint with axletree, the stub axle of the 3rd turning rack 15 is perpendicular to the ground, adopts keyway to captive joint with the output shaft of third planet gear type retarder 13.The stub axle external diameter of the 3rd turning rack 15 and the stub housing on vehicle frame 21 adopt two pairs of tapered roller bearings to be connected, the input shaft of third planet gear type retarder 13 and output shaft are on same axis, the input shaft of third planet gear type retarder 13 adopts spline to captive joint with the output shaft of the 3rd steer motor 12, the rotor shaft of the mandrel of method of three turning angles sensor 11 and the 3rd steer motor 12 is same axises, the main pin axis of the 3rd the turning rack 15 perpendicular to the ground and ground connection trace center by the 3rd wheel set 14.The terminals of method of three turning angles sensor 11 are connected with the digital signal Wiring port of the 3rd steer motor controller 24, and the terminals of the 3rd steer motor 12 are connected with the Wiring port electric wire of the 3rd steer motor controller 24.The shown the 4th turns to assembly to comprise the 4th steer motor controller 25, the 4th wheel set 17, the 4th turning rack 16, fourth planet gear type retarder 18, the 4th steer motor 19, the 4th rotary angle transmitter, the 4th wheel set 17 is arranged on the axletree of the 4th turning rack 16, its internal stator adopts bolt to captive joint with axletree, the stub axle of the 4th turning rack 16 is perpendicular to the ground, adopts keyway to captive joint with the output shaft of fourth planet gear type retarder 18.The stub axle external diameter of the 4th turning rack 16 and the stub housing on vehicle frame 21 adopt two pairs of tapered roller bearings to be connected, the input shaft of fourth planet gear type retarder 18 and output shaft are on same axis, the input shaft of fourth planet gear type retarder 18 adopts spline to captive joint with the output shaft of the 4th steer motor 19, the rotor shaft of the mandrel of the 4th rotary angle transmitter 20 and the 4th steer motor 19 is same axises, the main pin axis of the 4th the turning rack 16 perpendicular to the ground and ground connection trace center by the 4th wheel set 17.The terminals of the 4th rotary angle transmitter 20 are connected with the digital signal Wiring port of the 4th steer motor controller 25, and the terminals of the 4th steer motor 19 are connected with the Wiring port electric wire of the 4th steer motor controller 25.
Consulting Fig. 2, Fig. 3, Fig. 4, Fig. 5, is that four kinds of having of the utility model turn to pattern, namely pivot stud, four-wheel steering, front two-wheeled turn to, diagonal.Pivot stud described in the utility model refers to that the first wheel set 1 clockwise rotates δ
1Degree, the second wheel 10 rotates counterclockwise δ
1Degree, the 3rd wheel set 14 clockwise rotates δ
2Degree, the 4th wheel set 17 rotates counterclockwise δ
2Degree is by adjusting δ
1, δ
2Angular relationship, can adjust the turning center of vehicle, at first the corner opposite sign but equal magnitude of the first wheel set 1 and the second wheel set 10, the corner opposite sign but equal magnitude of the 3rd wheel set 14 and the 4th wheel set 17, guaranteed that turning center O is positioned on vertical plane of symmetry of vehicle, δ
1, δ
2Magnitude relationship affect the position of turning center O on the vertical plane of symmetry, rotate as far as possible littlely to the centnifugal force at center when vehicle is rotated again, be more evenly distributed, and make turn radius as much as possible little, draft δ
1, δ
2Magnitude relationship turning center is overlapped with center of gravity.Four-wheel steering described in the utility model refers to that the first wheel set 1 cw (conter clockwise) rotates δ
1Degree, the second wheel set 10 cws (conter clockwise) rotate δ
2Degree, the 3rd wheel set 14 conter clockwises (cw) rotate δ
3Degree, the 4th wheel set 17 conter clockwises (cw) rotate δ
4Degree, the corner of four wheels meets the Ackermann angle relation, and the 3rd, the 4th wheel set 14,17 belong to auxiliary before two-wheeled turn to, to reduce turn radius, the first wheel set 1 corner δ
1With the second wheel set 10 corner δ
2Be greater than the 3rd wheel set 14 corner δ
3With the 4th wheel set 17 corner δ
4Magnitude relationship is to determine by following relation: selected two degrees of freedom auto model, apart from identical, front-wheel is positioned at first, second wheel set 1 of former car, 10 center of symmetry position to wheelbase with former axletree, and trailing wheel is positioned at the 3rd, the 4th wheel set 14,17 center of symmetry position.Before and after this two degrees of freedom, the two-wheeled corner satisfies the Ackermann angle relation, and front wheel angle is two times of relations of trailing wheel corner, determines thus turning center.Again thus under turning center and former car wheel base prerequisite, satisfy the corner δ that determines four wheels under the condition of Ackermann angle relation at four wheels
1, δ
2, δ
3, δ
4Size, δ
1, δ
2, δ
3, δ
4Maxim less than 90 the degree.Front two-wheeled described in the utility model turns to and refers to that the first wheel set 1 cw (conter clockwise) rotates δ
1Degree, the second wheel set 10 cws (conter clockwise) rotate δ
2Degree, and δ
1, δ
2Ackerman angle relation, δ are satisfied in the angle
1, δ
2Maxim less than 90 the degree.And the 3rd, the 4th wheel set 14,17 is without rotating.Diagonal described in the utility model refers to that first, second, third, fourth wheel set 1,10,14,17 equal cws (conter clockwise) rotate the δ degree, and the slewing area of δ is ± 90 degree.Can realize craspedodrome, 45 degree diagonals, 90 degree diagonals etc.
Principle of work with four-wheel independence wire-controlled steering system of multi-steering pattern:
Consulting Fig. 6, the quadruplet steering program is arranged in the vehicle central controller, is respectively that pivot stud control program, four-wheel steering control program, front two-wheeled turn to control program, diagonal control program.After vehicle launch, carry out initialize routine in vehicle control device, guarantee that after vehicle launch be that front two-wheeled turns to pattern.The vehicle central controller is accepted from the vehicle speed signal of CAN line and the steering wheel angle signal of bearing circle angle transducer, and send the target rotation angle of four steer motor to the CAN bus, four steering controllers receive the target rotation angle of corresponding steer motor from the CAN bus, if pressing that chaufeur is inartificial turns to mode switch button, the vehicle central controller is still carried out front two-wheeled and is turned to control program.Before reasonably distributing according to steering wheel angle according to the corner allocator in front two-wheeled control program, the corner of two-wheeled (first turns to assembly and second to turn to assembly) (satisfies steering wheel angle to the transmitting ratio relation of wheel steering angle, the first two wheel steering angle also will satisfy the ackerman angle relation), be respectively target rotation angle 1 and target rotation angle 2, the target rotation angle of rear two-wheeled (the 3rd turns to assembly and the 4th to turn to assembly) is zero.The first steer motor controller and the second steer motor controller are controlled the first steer motor and the second steer motor according to target rotation angle 1 and target rotation angle 2 respectively, give the input of the first steer motor and the second steer motor corresponding electric current, and with the actual rotational angle of the first steer motor and the second steer motor as feedback, feed back to respectively the first steer motor controller and the second steer motor controller, thereby realize that first turns to assembly and second to turn to accurately turning to of assembly.The 3rd turns to assembly and the 4th to turn to the steer motor stall of assembly to keep zero degree.
consult Fig. 6, when pressing the pivot stud button, the vehicle central controller begins to carry out inner pivot stud control program as the people, and program inside has had first for pivot stud, second, the 3rd, the target rotation angle of the 4th steer motor (guarantees turning center and center superposition, so four turn to the corner size of assembly to determine), internal processes does not need receive direction dish angular signal, the vehicle central controller sends the target rotation angle of four steer motor to the CAN bus, four steering controllers receive the target rotation angle of corresponding steer motor, first from the CAN bus, second, the 3rd, the 4th steer motor controller controls corresponding first according to target rotation angle separately, second, the 3rd, the 4th steer motor realizes turning to, by first, second, the 3rd, the 4th steer motor controller is to corresponding first, second, the 3rd, the 4th corresponding electric current of steer motor input, and the actual rotational angle of four steer motor feeds back to corresponding steer motor controller, forms closed loop control, thereby realizes first, second, the 3rd, the 4th turns to accurately turning to of assembly.
consult Fig. 6, when artificial when pressing the four-wheel steering button, the vehicle central controller begins to carry out inner four-wheel steering control program, the vehicle central controller receives vehicle speed signal and the steering wheel angle signal from the CAN line, and reasonable according to the control program of inside (steering wheel angle and front wheel angle satisfy certain transmitting ratio relation, four wheels satisfy the ackerman angle relation) join the target rotation angle of four wheels, send again the target rotation angle of four steer motor to the CAN bus, first, second, the 3rd, the 4th steering controller according to corresponding target rotation angle to first, second, the 3rd, the 4th corresponding electric current of steer motor input, and with the actual rotational angle of four steer motor as feedback, feed back in corresponding steer motor controller, form closed loop control, thereby first, second, the 3rd, the 4th steer motor is respectively to first, second, the 3rd, the 4th turns to assembly that power is provided, realize accurately turning to.
consult Fig. 6, when artificial when pressing the diagonal button, vehicle central is controlled and is begun to carry out inner diagonal control program, the vehicle central controller receives vehicle speed signal and the steering wheel angle signal from the CAN line, (four wheel steering angles equate to calculate the target rotation angle of four wheels according to the control program of inside, steering wheel angle and wheel steering angle satisfy certain transmitting ratio relation, the corner of four wheels is in 90 degree scopes), send again the target rotation angle of four steer motor to the CAN bus, first, second, the 3rd, the 4th steer motor controller is controlled corresponding steer motor according to target rotation angle separately, to the corresponding electric current of its input, and with the actual rotational angle of four motors as feedback, feed back to corresponding first, second, the 3rd, in the 4th steer motor controller, form closed loop control, guarantee that four steer motor accurately reach target rotation angle, thereby guarantee that turning to assembly to reach turns to control accurately.
When pressing front two-wheeled and turning to button, the vehicle central controller still turns to control program to carry out according to the front two-wheeled of inside when artificial, and as previously mentioned, before realizing, two-wheeled turns to.
Claims (6)
1. the four-wheel independence wire-controlled steering system with multi-steering pattern, comprise steering control mechanism (31), steer motor controller (22,23,24,25), a vehicle central controller (30), mode-changeover device (26,27,28,29), turn to actuating unit.The steer motor controller is realized the transmitting-receiving of information and signal by CAN bus architecture and vehicle central controller;
The described actuating unit that turns to comprises that first turns to assembly, second to turn to assembly, the 3rd to turn to assembly, the 4th to turn to assembly;
The described assembly that respectively turns to comprises: steer motor (4,6,12,19), rotary angle transmitter (5,7,11,20), planetary gear type reduction gear (3,8,13,18), turning rack (2,9,15,16), wheel set (1,10,14,17).
2. four-wheel independence wire-controlled steering system as claimed in claim 1, it is characterized in that: described multi-steering pattern comprises that pivot stud, four-wheel steering, front two-wheeled turn to, the diagonal pattern, having the multiple control module that turns to pattern in described vehicle central controller, is respectively pivot stud control module, four-wheel steering control module, front two-wheeled control program module, diagonal control module; Described mode-changeover device comprises that pivot stud button (26), four-wheel steering button (27), front two-wheeled turn to button (28), diagonal button (29).
3. four-wheel independence wire-controlled steering system as claimed in claim 1 is characterized in that: described turn to actuating unit included first to turn to assembly be that to turn to assembly, second to turn to assembly be that to turn to assembly, the 3rd to turn to assembly be that to turn to assembly, the 4th to turn to assembly be that left rear wheel turns to assembly to off hind wheel to off front wheel to the near front wheel.
4. according to four-wheel independence wire-controlled steering system claimed in claim 1, it is characterized in that: the CAN transceiver of described vehicle central controller (30) is received on the CAN bus, and send each steer motor target rotation angle separately on bus, and accept each steer motor on the CAN bus and the working state signal of steer motor controller, each steer motor controller (22, 23, 24, 25) the CAN transceiver by separately is connected on the CAN bus, accept the target rotation angle of steer motor separately, and send the working state signal of each self-controller and steer motor to the CAN bus.
5. according to four-wheel independence wire-controlled steering system claimed in claim 1, it is characterized in that: pivot stud button (26), four-wheel steering button (27), front two-wheeled turn to the terminals of button (28), diagonal button (29) to be connected respectively on four I/O mouths of vehicle central controller (30), press and turn to mode button, can produce high level, make that vehicle central controller (30) is inner carries out the corresponding control program that turns to.
6. according to the described four-wheel independence of claims 1 wire-controlled steering system, it is characterized in that: the described steer motor (4 that respectively turns in assembly, 6, 12, 19) rotor shaft and corresponding rotary angle transmitter (5, 7, 11, 20) mandrel is same axis, steer motor (4, 6, 12, 19) output shaft and corresponding planetary gear type reduction gear (3, 8, 13, 18) input shaft adopts the spline captive joint, planetary gear type reduction gear (3, 8, 13, 18) input shaft and output shaft are on the same axis, turning rack (2, 9, 15, 16) main pin axis is perpendicular to the ground and by corresponding wheel set (1, 10, 14, 17) ground connection trace center, and with corresponding planetary gear type reduction gear (3, 8, 13, 18) output shaft adopts the keyway captive joint, turning rack (2, 9, 15, 16) the stub housing on stub axle external diameter and vehicle frame (21) adopts two pairs of tapered roller bearings to coordinate, wheel set (1, 10, 14, 17) be arranged on corresponding turning rack (2, 9, 15, 16) on axletree, wheel set (1, 10, 14, 17) internal stator adopts bolt to captive joint with axletree,
Rotary angle transmitter (5,7,11,20) terminals and corresponding steer motor controller (22,23,24,25) digital signal Wiring port connects, steer motor (4,6,12,19) terminals and corresponding steer motor controller (22,23,24,25) Wiring port electric wire connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220519322 CN202987262U (en) | 2012-10-11 | 2012-10-11 | Four-wheel independent steering-by-wire system with multiple-steering modal |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874304A (en) * | 2012-10-11 | 2013-01-16 | 吉林大学 | Four-wheel independent wire control steering system with multiple steering modes |
| CN103587576A (en) * | 2013-12-06 | 2014-02-19 | 中国石油大学(华东) | Power-driven automobile steering-by-wire system and control method |
| CN105427625A (en) * | 2015-11-24 | 2016-03-23 | 上海汽车集团股份有限公司 | Vehicle turning identification method and apparatus |
| CN106043426A (en) * | 2016-08-11 | 2016-10-26 | 杭州天爵舞台工程有限公司 | Car and wheel steering system |
| CN106553688A (en) * | 2015-09-24 | 2017-04-05 | 比亚迪股份有限公司 | The control method of four-wheel drive cars, system and four-wheel drive cars |
| CN108001293A (en) * | 2016-10-31 | 2018-05-08 | 比亚迪股份有限公司 | The pivot stud control system and method for electric vehicle |
| CN110550194A (en) * | 2019-09-06 | 2019-12-10 | 中国航空工业集团公司西安飞机设计研究所 | cooperative turning control method and cooperative turning control system for airplane |
| CN113753121A (en) * | 2020-06-05 | 2021-12-07 | 北京新能源汽车股份有限公司 | Wire-controlled steering system, control method and device thereof, control equipment and automobile |
| US11305814B2 (en) | 2016-08-11 | 2022-04-19 | Abosi Automobile Hangzhou Co., Ltd. | Automobile and wheel steering system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874304A (en) * | 2012-10-11 | 2013-01-16 | 吉林大学 | Four-wheel independent wire control steering system with multiple steering modes |
| CN103587576A (en) * | 2013-12-06 | 2014-02-19 | 中国石油大学(华东) | Power-driven automobile steering-by-wire system and control method |
| CN103587576B (en) * | 2013-12-06 | 2015-09-02 | 中国石油大学(华东) | A kind of Power-driven automobile steering-by-wire system and control method |
| CN106553688A (en) * | 2015-09-24 | 2017-04-05 | 比亚迪股份有限公司 | The control method of four-wheel drive cars, system and four-wheel drive cars |
| CN106553688B (en) * | 2015-09-24 | 2019-03-29 | 比亚迪股份有限公司 | Control method, system and the four-wheel drive cars of four-wheel drive cars |
| CN105427625A (en) * | 2015-11-24 | 2016-03-23 | 上海汽车集团股份有限公司 | Vehicle turning identification method and apparatus |
| CN105427625B (en) * | 2015-11-24 | 2018-02-13 | 上海汽车集团股份有限公司 | Vehicle turning recognition methods and device |
| CN106043426B (en) * | 2016-08-11 | 2018-12-28 | 杭州天爵舞台工程有限公司 | A kind of automobile and wheel steering system |
| CN106043426A (en) * | 2016-08-11 | 2016-10-26 | 杭州天爵舞台工程有限公司 | Car and wheel steering system |
| US11305814B2 (en) | 2016-08-11 | 2022-04-19 | Abosi Automobile Hangzhou Co., Ltd. | Automobile and wheel steering system |
| CN108001293A (en) * | 2016-10-31 | 2018-05-08 | 比亚迪股份有限公司 | The pivot stud control system and method for electric vehicle |
| CN108001293B (en) * | 2016-10-31 | 2020-10-20 | 比亚迪股份有限公司 | Pivot steering control system and method for electric vehicle |
| CN110550194A (en) * | 2019-09-06 | 2019-12-10 | 中国航空工业集团公司西安飞机设计研究所 | cooperative turning control method and cooperative turning control system for airplane |
| CN113753121A (en) * | 2020-06-05 | 2021-12-07 | 北京新能源汽车股份有限公司 | Wire-controlled steering system, control method and device thereof, control equipment and automobile |
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