CN203581090U - Four-wheel steering system - Google Patents
Four-wheel steering system Download PDFInfo
- Publication number
- CN203581090U CN203581090U CN201320712131.3U CN201320712131U CN203581090U CN 203581090 U CN203581090 U CN 203581090U CN 201320712131 U CN201320712131 U CN 201320712131U CN 203581090 U CN203581090 U CN 203581090U
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- ecu
- wheel steering
- steering system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Abstract
The utility model discloses a four-wheel steering system which comprises an electronic control unit and an executing unit. The electronic control unit comprises an ECU (electronic control unit) and a steering wheel angle sensor. The steering wheel angle sensor is mounted on a steering wheel steering shaft and used for transmitting steering signals to the ECU. The executing unit comprises a steering transmission mechanism, a steering motor and a double-arm transverse pull rod which are disposed on each wheel. Each steering motor is fixed on a vehicle body and a frame. The output shaft of each steering motor is provided with a drive gear which is meshed with the driven gear of corresponding steering transmission mechanism. The top end of the shaft of each driven gear is fixed on the vehicle body or the frame through a rolling bearing, and the bottom end of the shaft is connected with the corresponding double-arm transverse pull rod. The ECU outputs rotation signals to each steering motor. The electronic control four-wheel steering system is convenient to arrange, small in space occupation, and mainly formed by motors and the like.
Description
Technical field
The utility model relates to automobile steering system, relates in particular to a kind of automatically controlled 360 degree four-wheel steering systems.
Background technology
Automobile steering system is the critical component of vehicle, not only affect driver comfort, also be the vitals of drive safety, traditional two-wheel front-axle steering system because speed of response is slow, it is dumb to turn to, while running at high speed directional balance poor and gradually cannot meet the requirement that people are more and more higher to vehicle active safety, in the urgent need to a kind of efficient steering swivel system, realize good Vehicular turn safety.Under these circumstances, four-wheel steering (Four-Wheel Steering is called for short 4WS) system is arisen at the historic moment.
Its structure of four-wheel steering system of using is at present that a set of steering hardware is installed on rear suspension, is referred to as rear-axle steering mechanism.When chaufeur rotates steering handwheel, foresteerage gear and rear-axle steering mechanism move simultaneously.Adopt 4WS mode, trailing wheel is called same-phase when identical with front-wheel steering and turns to, and trailing wheel is called phase reversal when contrary with front-wheel steering and turns to.
The major advantage of four-wheel steering automobile is when high speed, to adopt same-phase to turn to can improve vehicle handling stability, adopts phase reversal to turn to the turn radius that can reduce automobile during low speed, makes running car more flexible.
At present in the 4WS of use system, majority is mechanical type 4WS system, this system is because front and rear wheel steering system machinery is connected, operational forces is large, reliable transmission, but due to the shortcoming existing aspect structure design and arrangement, and exist and vibrate and cause the defects such as noise in automobile sport process, make mechanical type 4WS system be difficult to adapt to the requirement of modern automobile lightweight and travelling comfort aspect.
Utility model content
Technical problem to be solved in the utility model is to realize a kind of four-wheel steering system that can guarantee that driver comfort is high, and can realize translation and the original place 360 of automobile
oturn to.
To achieve these goals, the technical solution adopted in the utility model is: four-wheel steering system, and system comprises ECU (Electrical Control Unit) and performance element;
Described ECU (Electrical Control Unit) comprises controller ECU, and is installed on steering handwheel steering shaft and turn sign is delivered to the steering wheel angle sensor of controller ECU;
Described performance element comprises steering gear, steer motor and the both arms intermediate rod being provided on each wheel, described steer motor is fixed on vehicle body or vehicle frame, its output shaft is provided with driving gear, described driving gear is meshed with the driven gear of steering gear, the top of described driven gear shaft is fixed on vehicle body or vehicle frame by antifriction-bearing box, the bottom of described axle is connected with both arms intermediate rod, and described both arms intermediate rod is connected with wheel by steering swivel;
Described controller ECU output turn signal is to steer motor.
On the steering swivel of each described wheel, be equipped with wheel steering angle sensor, the angular signal of its output wheel is to controller ECU.
Described vehicle body barycenter place is provided with yaw-rate sensor, and it outputs signal to controller ECU.
Described controller ECU is connected with CAN bus or is connected with the car speed sensor that is arranged on the rotor side that is arranged on car speed mileage table, receives the vehicle speed signal of its output.
Between described wheel and vehicle body or vehicle frame, be provided with suspension system.
Described controller ECU carries signal to telltale in car, and in car, has control button.
The automatically controlled four-wheel steering system that the utility model four-wheel steering system is a kind of arrangement convenience, it is little to take up room, mainly consist of electrical motor etc., compares with traditional mechanical type four-wheel steering system, has the following advantages:
(1) be conducive to the calculation for layout of car load.Because the utility model has more been used hydraulic pressure components and parts, reduced mechanical connection, parts are few, lightweight, compact to design, and shared space is relatively little, can more be conducive to the calculation for layout of car load.
(2) do not affect the travelling comfort of car load.Due to the mechanical drive that do not adopt of the present utility model, the vibration, the noise problem that do not have the vibration of transmission shaft and cause car load, therefore can not affect the travelling comfort of car load.
(3) flexible property.Due to four wheels of the utility model be all furnished with electric steering mechanism therefore four wheels can rotate, translation and the pivot stud that can realize automobile have reduced turn radius.Improved the maneuvering performance of automobile.
Accompanying drawing explanation
Below the content of every width accompanying drawing expression in the utility model specification sheets and the mark in figure are briefly described:
Fig. 1 is four-wheel steering system general arrangement;
Fig. 2 is four-wheel steering system schematic circuit diagram;
Fig. 3 is the structural representation of four-wheel steering system off front wheel mechanism;
Fig. 4 is the structural representation of four-wheel steering system off front wheel mechanism;
Mark in above-mentioned figure is: 1, the near front wheel; 2, the near front wheel rotary angle transmitter; 3, left front steer motor; 4, the near front wheel steering gear; 5, off front wheel steer motor; 5-1, bolt; 6, off front wheel steering gear; 6-1, antifriction-bearing box; 6-2, driven gear; 6-3, driving gear; 7, off front wheel rotary angle transmitter; 8, off front wheel; 9, steering wheel angle sensor; 10, steering handwheel; 11, car speed sensor; 12, Vehicular yaw angular velocity sensor; 13, controller ECU; 14, left rear wheel; 15, left rear wheel rotary angle transmitter; 16, left back steer motor; 17, left rear wheel steering gear; 18, off hind wheel steer motor; 19, off hind wheel steering gear; 20, off hind wheel rotary angle transmitter; 21, off hind wheel; 22, right front suspension; 23, both arms intermediate rod.
The specific embodiment
The utility model four-wheel steering system is comprised of ECU (Electrical Control Unit) and performance element two parts.
As Fig. 1, 3, shown in 4, performance element comprises the steering gear being provided on each wheel, steer motor and both arms intermediate rod 23, it is identical that it forms structure, Fig. 3 wherein, the constructional drawing that 4 Shi Yi off front wheel mechanisms are example, steer motor is stepping motor, by bolt of rear end plate, be fixed on vehicle body or vehicle frame, the driving gear of steer motor is meshed with the driven gear of steering gear, the number of teeth of driving gear is less than the number of teeth of driven gear, driven gear is horizontally disposed with, its axle top is fixed on vehicle body or vehicle frame by antifriction-bearing box, axle bottom is connected with both arms intermediate rod 23, both arms intermediate rod 23 is connected with wheel by steering swivel, between wheel and vehicle body or vehicle frame, be provided with suspension system.
As Fig. 1, shown in 2, ECU (Electrical Control Unit) comprises: controller ECU13, be installed on the steering wheel angle sensor 9 on steering handwheel 10 steering shafts, it can adopt induction type angle displacement sensor, be arranged on the wheel steering angle sensor on each wheel steering joint, be installed on the yaw-rate sensor 12 at vehicle body barycenter place, it can adopt piezoelectric fluidic angular rate sensors, all the sensors passes through wire transmission collection signal to controller ECU13, with Time Controller ECU13, be connected with CAN bus or be connected with the car speed sensor 11 that is arranged on the rotor side that is arranged on car speed mileage table, receive the vehicle speed signal of its output, car speed sensor 11 can adopt photo-electric car speed sensor.Controller ECU13 output turn signal is to steer motor, thereby corresponding two transverse arm pull bars 23 motions of driving make four wheels produce the deflection of certain angle.Controller ECU13 is 16 micro controller systems with 256 byte RAM, adopts the 80C196KB micro controller system of the MCS-96 of Intel Company series, extends out 27128EPROM program store.Whole system is by external power source, i.e. Vehicular accumulator cell.
Controller ECU13 is the core of whole system, 80C196KB micro controller system, EPROM, signal conditioning circuit, interior power supply circuit, motor drive circuit, display output circuit etc., partly consists of.Controller ECU13 is also built-in with the self-diagnostic function of the system failure, and diagnostic result can be shown by failure screen, with this, informs chaufeur.
Controller ECU13 carries signal to telltale in car, and in car, there is control button, can control system optionally enter two kinds and turn to pattern, and turn to Pattern Select Switch and turn to mode switch indicator lamp, chaufeur can select traditional 2WS to turn to pattern, also can select 4WS to turn to pattern, micro controller system plug-in can be according to breakdown signal automatically to turning to mode switch to select, when four-wheel steering system breaks down, automatically steering swivel system is converted to 2WS pattern by 4WS pattern.
Control method based on four-wheel steering system is as follows:
After vehicle launch, system works, in car, display system can point out navigating mate to select to start four-wheel steering system or conventional nose wheel steering, and system is according to selecting to carry out whether start four-wheel steering system;
Controller ECU13 Real-time Collection steering handwheel 10 angular signals and vehicle speed signal;
Controller ECU13 is defined as low gear, mid ranger and high speed gear according to the speed of a motor vehicle by four-wheel steering system; Vehicle is when described low gear, and it is identical that front-wheel and steering handwheel 10 turn to, and trailing wheel and steering handwheel 10 rotate backward; Vehicle is when described mid ranger, and it is identical that front-wheel and steering handwheel turn to, and trailing wheel does not rotate with steering handwheel 10, and vehicle is when described high speed gear, and front and back wheel all turns to identical with steering handwheel 10.This is that the speed of a motor vehicle changes very fast (turning is all attended by moderating process conventionally) during due to automobile turning in actual travel, so the control policy adopting is that front and back wheel rotates backward, and middling speed state, rear-axle steering mechanism is almost motionless, at fast state, front and back wheel rotating in same direction, the size and Orientation of action is determined according to the corner ideal value of setting.
Above-mentioned each gear speed range can according to circumstances be preset, and for example, the low gear speed of a motor vehicle is lower than 40km/h, and the mid ranger speed of a motor vehicle is at 40km/h-60km/h, and the high speed gear speed of a motor vehicle is higher than 60km/h.
In addition, wheel steering angle sensor is delivered to collection signal controller ECU13 in real time, and controller ECU13 answers gyration and real-turn angle to compare according to wheel, and drives steer motor correction steering angle of wheel.
By reference to the accompanying drawings the utility model is exemplarily described above; obviously the utility model specific implementation is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; or without improving, design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.
Claims (6)
1. four-wheel steering system, is characterized in that: system comprises ECU (Electrical Control Unit) and performance element;
Described ECU (Electrical Control Unit) comprises controller ECU(13), and be installed on steering handwheel (10) steering shaft and by wheel real-turn angle signal be delivered to controller ECU(13) steering wheel angle sensor (9);
Described performance element comprises steering gear, steer motor and the both arms intermediate rod (23) being provided on each wheel, described steer motor is fixed on vehicle body or vehicle frame, its output shaft is provided with driving gear, described driving gear is meshed with the driven gear of steering gear, the top of described driven gear shaft is fixed on vehicle body or vehicle frame by antifriction-bearing box, the bottom of described axle is connected with both arms intermediate rod (23), and described both arms intermediate rod (23) is connected with wheel by steering swivel;
Described controller ECU(13) output turn signal is to steer motor.
2. four-wheel steering system according to claim 1, is characterized in that: on the steering swivel of each described wheel, be equipped with wheel steering angle sensor, its output wheel steering signal is to controller ECU(13).
3. four-wheel steering system according to claim 1, is characterized in that: described vehicle body barycenter place is provided with yaw-rate sensor (12), and it outputs signal to controller ECU(13).
4. four-wheel steering system according to claim 1, it is characterized in that: described controller ECU(13) be connected with CAN bus or be connected with the car speed sensor (11) that is arranged on the rotor side that is arranged on car speed mileage table, receive the vehicle speed signal of its output.
5. four-wheel steering system according to claim 1, is characterized in that: between described wheel and vehicle body or vehicle frame, be provided with suspension system.
6. four-wheel steering system according to claim 1, is characterized in that: described controller ECU(13) carry signal to telltale in car, and in car, have control button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320712131.3U CN203581090U (en) | 2013-11-12 | 2013-11-12 | Four-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320712131.3U CN203581090U (en) | 2013-11-12 | 2013-11-12 | Four-wheel steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203581090U true CN203581090U (en) | 2014-05-07 |
Family
ID=50579049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320712131.3U Withdrawn - After Issue CN203581090U (en) | 2013-11-12 | 2013-11-12 | Four-wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203581090U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569197A (en) * | 2013-11-12 | 2014-02-12 | 安徽工程大学 | Four-wheel steering system and control method thereof |
| CN104773201A (en) * | 2015-03-17 | 2015-07-15 | 北京理工大学 | Composite steering auxiliary system for multi-shaft distributive mechanical and electrical driving vehicle |
| CN104908812A (en) * | 2015-06-27 | 2015-09-16 | 钟兵 | Automobile steering failure alarm controller, control system and control method |
| CN108860297A (en) * | 2018-08-28 | 2018-11-23 | 杭州天爵舞台工程有限公司 | A kind of automatic Pilot steering system and vehicle |
| CN115475396A (en) * | 2021-05-31 | 2022-12-16 | 双叶电子工业株式会社 | Steering mechanism of model motor vehicle and servo motor for steering |
-
2013
- 2013-11-12 CN CN201320712131.3U patent/CN203581090U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569197A (en) * | 2013-11-12 | 2014-02-12 | 安徽工程大学 | Four-wheel steering system and control method thereof |
| CN104773201A (en) * | 2015-03-17 | 2015-07-15 | 北京理工大学 | Composite steering auxiliary system for multi-shaft distributive mechanical and electrical driving vehicle |
| CN104908812A (en) * | 2015-06-27 | 2015-09-16 | 钟兵 | Automobile steering failure alarm controller, control system and control method |
| CN108860297A (en) * | 2018-08-28 | 2018-11-23 | 杭州天爵舞台工程有限公司 | A kind of automatic Pilot steering system and vehicle |
| CN115475396A (en) * | 2021-05-31 | 2022-12-16 | 双叶电子工业株式会社 | Steering mechanism of model motor vehicle and servo motor for steering |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103569197B (en) | four-wheel steering system and control method thereof | |
| CN201670260U (en) | Independent steering device and independent suspension system | |
| CN203581090U (en) | Four-wheel steering system | |
| CN202098458U (en) | Electrically-controlled electric four-wheel steering system | |
| CN205292782U (en) | Pirouette turns to device to reaching in -wheel motor electric automobile who transversely traveles | |
| EP3138718A1 (en) | Integrated steering drive axle for vehicle and electric vehicle | |
| CN107685767B (en) | Multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device and forward method | |
| CN206679065U (en) | A kind of vehicle suspension system of rotatable an angle of 90 degrees | |
| CN110979464A (en) | Drive-by-wire chassis for unmanned driving field | |
| CN102372029A (en) | Electric control all-wheel steering system for multi-axle vehicle | |
| CN206691188U (en) | A kind of automobile steer-by-wire system | |
| CN103863308A (en) | Electronic active control system for preventing skewing of electric vehicle | |
| CN202624347U (en) | Power-assisted steering device special for electric vehicle | |
| CN202098457U (en) | Electrical control hydraulic four-wheel steering system | |
| CN203854716U (en) | Automotive electric hydraulic power-assisted steering mechanism | |
| CN203268122U (en) | Automobile four-wheel steering system | |
| CN109278679A (en) | A kind of laboratory vehicle based on bi-motor independent control | |
| CN101973311A (en) | Integral active electric power-assisted steering mechanical structure | |
| CN108945097B (en) | Electric wire control steering system | |
| CN102673636A (en) | Power-assisted steering system special for electric automobile | |
| CN103465780B (en) | Bi-motor four-wheel electric automobile driving system | |
| CN207631329U (en) | A kind of multi-wheel steering system based on electric power-assisted | |
| CN101973312B (en) | Electric power-assisted steering system with VTMS (Variable Transmission Motor System) speed variable transmission ratio | |
| CN205574046U (en) | Four wheel steering's electric automobile | |
| CN211494249U (en) | Drive-by-wire chassis for unmanned driving field |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140507 Effective date of abandoning: 20150826 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140507 Effective date of abandoning: 20150826 |
|
| RGAV | Abandon patent right to avoid regrant |