CN203064022U - Steering control device of motor vehicle - Google Patents
Steering control device of motor vehicle Download PDFInfo
- Publication number
- CN203064022U CN203064022U CN 201220510198 CN201220510198U CN203064022U CN 203064022 U CN203064022 U CN 203064022U CN 201220510198 CN201220510198 CN 201220510198 CN 201220510198 U CN201220510198 U CN 201220510198U CN 203064022 U CN203064022 U CN 203064022U
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- wheel
- lanar
- rod mechanism
- controlling device
- corner
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Abstract
The utility model discloses a steering control device of a motor vehicle. The steering control device of the motor vehicle comprises an executing mechanism which is arranged on a frame of the motor vehicle and used for controlling deflecting directions of wheels, the steering control device of the motor vehicle further comprises a driving mechanism and a deflecting angle detecting mechanism, wherein the driving mechanism is arranged on the frame and used for driving the motor vehicle to steer, and the deflecting angle detecting mechanism is connected with the driving mechanism and used for generating deflecting angle signals of the wheels under the control of the driving mechanism to enable the executing mechanism to control the wheels to deflect at corresponding angles. According to the steering control device of the motor vehicle, a plane four-connecting-bar mechanism is minimized, the mechanical structure of the overall device is simple and practicable, the motor vehicle is controlled to steer through electronization, the degree of automation of the device is high, and control is accurate.
Description
Technical field
The utility model relates to Vehicular turn control field, particularly a kind of motor turning control setup.
Background technology
Self-propelled vehicle often need be changed trains and turning in the process of moving.Chaufeur makes automobile change travel direction by special steering hardware.Steering hardware can also the inclination of modifying factor road surface etc. the self-propelled vehicle sideslip that causes of reason.Steering hardware not only is related to the safety of motor-driven vehicle going, also is related to prolong tire life, reduction oil consumption etc.
Along with science and technology development, market is also more and more higher to the requirement of performances of motor vehicles, and the road-holding property of self-propelled vehicle particularly becomes an importance of contemporary automotive research.The quality of steering hardware directly has influence on working strength and the work efficiency of road-holding property, ease of steering and the chaufeur of automobile, so the design of steering hardware is very important in an automobile design part.
Existing motor turning device promotes the wheel generation by deflector by steering track rod and lanar four rod mechanism and turns to by the actuating force of chaufeur steering wheel rotation is passed to deflector.Lanar four rod mechanism in such steering hardware can not modelling, so it is big to take up room, speed of response is slow; and require high to the operation of chaufeur; usually also servo steering device to be set, thereby above-mentioned steering hardware complicated in mechanical structure, turn to control accuracy and degree of automation not high.
The utility model content
The utility model provides a kind of motor turning control setup, in order to solve motor turning control setup complicated in mechanical structure in the prior art, the problem that degree of automation is not high.
A kind of motor turning control setup comprises actuating unit on the vehicle frame of being located at self-propelled vehicle, that be used for control wheel deflecting direction, also comprises:
Be located at driver train on the vehicle frame, that be used for driving motor turning; And
Be connected in driver train and under driving mechanisms control, generate the deflection angle signal of wheel so that the actuating mechanism controls wheel carries out the corner testing agency of the deflection of respective angles.
Further, described driver train comprise bearing circle, lanar four rod mechanism and be connected in bearing circle and lanar four rod mechanism between under bearing circle drives, further to drive the transmission of described lanar four rod mechanism deflection.
Further, described lanar four rod mechanism comprises adjustable length with the intermediate rod of regulating outer corner difference inside and outside the wheel, be articulated in two rocking bars of respective ends of intermediate rod and respective ends that two ends are articulated in two rocking bars respectively and length according to wheelbase and the predetermined fixed link of wheelspan of vehicle with an end respectively, and the hinge-point of the two ends of described fixed link and described two rocking bars forms fulcrum.
Further, described corner testing agency comprises:
Being located on two fulcrums of described lanar four rod mechanism respectively and being driven by described lanar four rod mechanism makes sliding end electrically be contacted with two rotational potentiometers of resistance slidably;
Be electrically connected on the sliding end of described rotational potentiometer with the voltage detection module of the magnitude of voltage of real-time detection sliding end position;
Prestore magnitude of voltage and corner and the memory device that turns to mapping table; And
Being electrically connected on magnitude of voltage described voltage detection module, that record according to described voltage detection module determines corresponding corner and turns to and generate the controller of the deflection angle signal of wheel from described relation table.
Further, described actuating unit is integrated in one for transmitting and the deflection of the described wheel of real-Time Tracking Control and the Fu that described deflection angle signal is consistent.
Further, described actuating unit comprises connection and the propulsion source of being controlled by corner testing agency, drives and drive to the transmission component of wheel to turn to by propulsion source, wherein, described propulsion source comprises motor-drive circuit and is connected in the motor of described motor-drive circuit that described transmission component comprises the worm and gear that is connected in motor output shaft and is engaged in the gear cluster of described worm and gear and wheel.
Further, described corner testing agency comprises that also being connected in being used between controller and the propulsion source transmits and the deflection of the described wheel of real-Time Tracking Control and the PID controller that described deflection angle signal is consistent.
Further, described transmission comprises and one is installed in first sprocket wheel on the described bearing circle, is installed on second sprocket wheel and chain on the described lanar four rod mechanism.
Among the utility model embodiment, the whole device for mechanical of motor turning control setup is simple in structure feasible, and by electronization control automobile rotation direction, the plant automation degree is higher, controls more accurate.
Description of drawings
Fig. 1 is the structural representation of the motor turning control setup of the utility model one embodiment;
Fig. 2 has the diagram of circuit of the motor turning of Fu for the steering controlling device control of the utility model one embodiment;
Fig. 3 has the diagram of circuit of the motor turning of PID control for the steering controlling device control of another embodiment of the utility model.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the application can mutually combine, and below in conjunction with the drawings and specific embodiments the utility model are described in further detail.
The utility model provides a kind of motor turning control setup, has solved and has turned to the control structure complexity in the prior art, the problem that degree of automation is not high.
Please refer to Fig. 1, the motor turning control setup 100 of the utility model embodiment comprise be located at respectively on the vehicle frame, be used for the actuating unit of control wheel steering and be used for driving the driver train that turns to, and be connected in driver train and under driving mechanisms control, generate the deflection angle signal of wheel so that the actuating mechanism controls wheel carries out the corner testing agency of the deflection of respective angles.
Described driver train comprise bearing circle 1, lanar four rod mechanism 7 and be connected in bearing circle 1 and lanar four rod mechanism 7 between further to drive the transmission 20 of described lanar four rod mechanism 7 deflections under driving at bearing circle 1, described bearing circle 1 drives described transmission 20 runnings, and described transmission 20 drives described lanar four rod mechanism 7 deflections.
Lanar four rod mechanism 7 is lanar four rod mechanism, it comprises an intermediate rod 6, be articulated in the rocking bar of respective ends of intermediate rod 6 and two ends with an end respectively is articulated in two rocking bars 9,10 respective ends and length respectively according to wheelbase and the predetermined fixed link 19 of wheelspan of vehicle, the two ends of fixed link 19 and two rocking bars 9,10 hinge-point form two fulcrums, the adjustable length of described intermediate rod 6 is be used for to regulate outer corner difference inside and outside the wheel.The lanar four rod mechanism that lanar four rod mechanism 7 in the present embodiment adopts in the conventional motor vehicle, thus control is easily, flexibly.
Described corner testing agency 30 links to each other with described transmission 20, and described corner testing agency 30 comprises: be located on 7 liang of fulcrums of described lanar four rod mechanism respectively and driven by described lanar four rod mechanism 7 and make sliding end electrically be contacted with two rotational potentiometers 5,8 of resistance slidably; Be electrically connected on described rotational potentiometer 5,8 sliding end with the voltage detection module of the magnitude of voltage of real-time detection sliding end position; Prestore magnitude of voltage and corner and the memory device that turns to mapping table; And be electrically connected on magnitude of voltage described voltage detection module, that record according to described voltage detection module and determine corresponding corner and turn to and generate the controller of the deflection angle signal of wheel from described relation table.
Particularly, two rotational potentiometers 5,8 resistance one end ground connection, one termination high level, when bearing circle 1 rotates 20 rotations of drive transmission, when transmission 20 drives lanar four rod mechanism 7 deflections, lanar four rod mechanism 7 drives two rotational potentiometers 5,8 sliding end slides along the resistance of rotational potentiometer, the magnitude of voltage of sliding end position changes, the magnitude of voltage that controller records according to described voltage detection module is determined corresponding corner and is turned to and generate the deflection angle signal of wheel, thereby realized the output that is input to electric control signal of mechanical control from the relation table of described memory module.
Self-propelled vehicle comprises for transmitting and the deflection of the described wheel of real-Time Tracking Control and Fu or PID controller (the Proportion Integration Differentiation that described deflection angle signal is consistent, proportional-integral derivative controller), wherein, the PID controller is backfeed loop parts that are applied in the Industry Control Application.
As a kind of embodiment, self-propelled vehicle comprises Fu, and described actuating unit is integrated in the described Fu.Please in the lump with reference to figure 2, use the rotating direction control method one of this steering controlling device 100 to comprise:
The signal transmission step: corner testing agency generates the deflection angle signal of wheel and sends Fu in the self-propelled vehicle under driving mechanisms control;
The control step: described Fu is according to the deflection of deflection angle signal control wheel;
Tracking step: described wheel feeds back to described Fu with the rotation result of self, follows the tracks of turning to described deflection angle signal of described wheel of control by described Fu and is consistent.
As another kind of embodiment, basic identical with above-described embodiment, difference is accepter's difference of deflection angle signal.Described actuating unit comprises connection and first propulsion source 11 and second propulsion source 15 controlled by corner testing agency 30, drives and drive to respectively first wheel 14 and the transmission component of second wheel 18 to turn to by described propulsion source, wherein, described propulsion source comprises motor-drive circuit and is connected in the motor of described motor-drive circuit, and described transmission component comprises first worm and gear 12, second worm and gear 16 that is connected in motor output shaft and first gear cluster 13 that is engaged in described worm and gear and wheel, second gear cluster 17.Described corner testing agency 30 comprises that also being connected in being used between controller and the propulsion source transmits and the deflection of the described wheel of real-Time Tracking Control and the PID controller that described deflection angle signal is consistent.Please in the lump with reference to figure 3, use the rotating direction control method two of this steering controlling device 100 to comprise:
The signal transmission step: corner testing agency generates the deflection angle signal of wheel and sends PID controller in the self-propelled vehicle under driving mechanisms control;
The control step: described PID controller is worked according to deflection angle signal control propulsion source;
Actuation step: described propulsion source drives wheel deflection;
Tracking step: described wheel feeds back to described PID controller with the rotation result of self, and deflection and the described deflection angle signal of being followed the tracks of the described wheel of control by described PID controller are consistent.
To sum up, corner testing agency 30 in the described steering controlling device 100 exports the deflection angle signal of detected wheel with the form of electric signal, be sent to Fu or PID controller, Fu or PID controller control wheel rotate according to preset angles.
Use 100 its interior lanar four rod mechanism miniaturizations more of this motor turning control setup, whole device for mechanical is simple in structure feasible, and by electronization control automobile rotation direction, the plant automation degree is higher, controls more accurate.Adopt the rotating direction control method of described motor turning control setup, because used the method that the simple steering controlling device of physical construction and electronically controlled vehicle turn to, make that motor turning control degree of automation is higher, it is more accurate to control.
Although illustrated and described embodiment of the present utility model, for the ordinary skill in the art, be appreciated that under the situation that does not break away from principle of the present utility model and spirit and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present utility model is limited by claims and equivalency range thereof.
Claims (8)
1. a motor turning control setup comprises actuating unit on the vehicle frame of being located at self-propelled vehicle, that be used for control wheel deflecting direction, it is characterized in that described steering controlling device also comprises:
Be located at driver train on the vehicle frame, that be used for driving motor turning; And
Be connected in driver train and under driving mechanisms control, generate the deflection angle signal of wheel so that the actuating mechanism controls wheel carries out the corner testing agency of the deflection of respective angles.
2. steering controlling device as claimed in claim 1, it is characterized in that, described driver train comprise bearing circle, lanar four rod mechanism and be connected in bearing circle and lanar four rod mechanism between under bearing circle drives, further to drive the transmission of described lanar four rod mechanism deflection.
3. steering controlling device as claimed in claim 2, it is characterized in that, described lanar four rod mechanism comprises adjustable length with the intermediate rod of regulating outer corner difference inside and outside the wheel, be articulated in two rocking bars of respective ends of intermediate rod and respective ends that two ends are articulated in two rocking bars respectively and length according to wheelbase and the predetermined fixed link of wheelspan of vehicle with an end respectively, and the hinge-point of the two ends of described fixed link and described two rocking bars forms fulcrum.
4. steering controlling device as claimed in claim 3 is characterized in that, described corner testing agency comprises:
Being located on two fulcrums of described lanar four rod mechanism respectively and being driven by described lanar four rod mechanism makes sliding end electrically be contacted with two rotational potentiometers of resistance slidably;
Be electrically connected on the sliding end of described rotational potentiometer with the voltage detection module of the magnitude of voltage of real-time detection sliding end position;
Prestore magnitude of voltage and corner and the memory device that turns to mapping table; And
Being electrically connected on magnitude of voltage described voltage detection module, that record according to described voltage detection module determines corresponding corner and turns to and generate the controller of the deflection angle signal of wheel from described relation table.
5. steering controlling device as claimed in claim 4 is characterized in that, described actuating unit is integrated in one and is used for transmitting and the deflection of the described wheel of real-Time Tracking Control and the Fu that described deflection angle signal is consistent.
6. steering controlling device as claimed in claim 4, it is characterized in that, described actuating unit comprises connection and the propulsion source of being controlled by corner testing agency, drives and drive to the transmission component of wheel to turn to by propulsion source, wherein, described propulsion source comprises motor-drive circuit and is connected in the motor of described motor-drive circuit that described transmission component comprises the worm and gear that is connected in motor output shaft and is engaged in the gear cluster of described worm and gear and wheel.
7. steering controlling device as claimed in claim 6, it is characterized in that described corner testing agency comprises that also being connected in being used between controller and the propulsion source transmits and the deflection of the described wheel of real-Time Tracking Control and the PID controller that described deflection angle signal is consistent.
8. steering controlling device as claimed in claim 2 is characterized in that, described transmission comprises and one is installed in first sprocket wheel on the described bearing circle, is installed on second sprocket wheel and chain on the described lanar four rod mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220510198 CN203064022U (en) | 2012-09-29 | 2012-09-29 | Steering control device of motor vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220510198 CN203064022U (en) | 2012-09-29 | 2012-09-29 | Steering control device of motor vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203064022U true CN203064022U (en) | 2013-07-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220510198 Expired - Fee Related CN203064022U (en) | 2012-09-29 | 2012-09-29 | Steering control device of motor vehicle |
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| CN (1) | CN203064022U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874307A (en) * | 2012-09-29 | 2013-01-16 | 深圳职业技术学院 | Motor vehicle steering control device and motor vehicle steering control method |
| CN105492299A (en) * | 2013-08-29 | 2016-04-13 | 金圣镇 | System for controlling rolling of vehicle and method therefor |
| CN106515847A (en) * | 2016-12-05 | 2017-03-22 | 聊城大学 | Hydraulic steering controlling system for navigation of tractor and controlling method |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
-
2012
- 2012-09-29 CN CN 201220510198 patent/CN203064022U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874307A (en) * | 2012-09-29 | 2013-01-16 | 深圳职业技术学院 | Motor vehicle steering control device and motor vehicle steering control method |
| CN102874307B (en) * | 2012-09-29 | 2015-05-20 | 深圳职业技术学院 | Motor vehicle steering control device and motor vehicle steering control method |
| CN105492299A (en) * | 2013-08-29 | 2016-04-13 | 金圣镇 | System for controlling rolling of vehicle and method therefor |
| CN105492299B (en) * | 2013-08-29 | 2017-11-21 | 金圣镇 | Vehicle Rotable Control System and vehicle method of controlling rotation |
| CN106515847A (en) * | 2016-12-05 | 2017-03-22 | 聊城大学 | Hydraulic steering controlling system for navigation of tractor and controlling method |
| CN106515847B (en) * | 2016-12-05 | 2018-08-17 | 聊城大学 | A kind of tractor navigation fluid-link steering control system and control method |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130717 Termination date: 20130929 |