CN205769559U - Four-wheel automobile closed loop control intelligent steering system and automobile - Google Patents
Four-wheel automobile closed loop control intelligent steering system and automobile Download PDFInfo
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- CN205769559U CN205769559U CN201620668700.2U CN201620668700U CN205769559U CN 205769559 U CN205769559 U CN 205769559U CN 201620668700 U CN201620668700 U CN 201620668700U CN 205769559 U CN205769559 U CN 205769559U
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Abstract
This utility model relates to automobile, a kind of four-wheel automobile closed loop control intelligent steering system is provided, including steering mechanism and controlling organization, controlling organization includes steering wheel, steering column and steering controller, and steering mechanism includes three driven steering assemblies and active steering assembly；Each driven steering assembly all includes that driven knuckle and driven steer motor, each driven steer motor are electrically connected to steering controller；Active steering assembly includes turning to machine and active steering joint；Being provided with tubing string rotary angle transmitter on steering column, tubing string rotary angle transmitter electrically connects with steering controller；Also provide for a kind of automobile, including above-mentioned steering.Steering of the present utility model, active steering joint and three driven knuckles are individually control, do not use track rod, decrease unsprung mass, simultaneously because steering wheel directly controls a wherein wheel, make driver can obtain suitable road feel, it is ensured that handling stability when turning to.
Description
Technical field
This utility model relates to automobile, particularly relates to a kind of four-wheel automobile closed loop control intelligent steering system and automobile.
Background technology
In existing four-wheel automobile, general front-wheel steer, trailing wheel does not turns to.In order to improve its mobility, reduce automobile
Radius of turn, reduces tire wear simultaneously, also has and use four-wheel steering, but be typically all the left and right wheels of front-rear axle
Knuckle arm track rod connects, and is carried out approximation control left and right wheels turned by drag link and knuckle arm composition steering trapezium
To angle rational proportion.Turning to by turning to machine directly to drive of steeraxle, and the divertical motion of the most driven steeraxle of back axle can lead to
Cross mechanical drive mode to realize, it is possible to realized by hydraulic transmission mode or mode of electric drive, wherein mechanical drive mode
Gain great popularity because it is intuitive and reliable.But current research shows, along with the raising of speed when turning to, rear steering is taken turns because of by ground
Turn to centripetal force to increase and make slip angle of tire increase produced oversteering tendency and the handling stability of automobile can be made to degenerate.This is just
Wish that propons is transferred to the transmission ratio of the divertical motion of rear steering bridge and can make corresponding changes along with the raising of speed.But it is existing
Mechanical drive mode is transferred to the ratio of turning of back axle and is and immobilizes, and accomplishing at most of having is reaching certain speed, permissible
Make back axle not turn to, and the ratio of turning of back axle can not be transferred to along with the raising of speed progressively reduces, more can not make rear steering
Crop rotation and controlled the turning to of same degree of front-wheel direction, so that using the vehicle being realized four-wheel steering by mechanical drive mode
Though improve the mobility run at a low speed, the handling stability run at high speed may be reduced.
Utility model content
The purpose of this utility model is to provide a kind of four-wheel automobile closed loop control intelligent steering system, it is intended to be used for solving
The problem that during existing motor turning, handling stability is relatively low.
This utility model is achieved in that
This utility model embodiment provides a kind of four-wheel automobile closed loop control intelligent steering system, including for ordering about automobile
The steering mechanism of each wheel steering and for controlling the controlling organization of described steering mechanism work, described controlling organization includes turning
The steering column being in transmission connection with described steering wheel to dish and the steering controller controlling the work of described steering mechanism, described
Steering mechanism includes three the driven steering assemblies driven with automobile wherein three-wheel one_to_one corresponding and takes turns corresponding driving with other one
Dynamic active steering assembly；
Each described driven steering assembly all include ordering about the driven knuckle of corresponding wheel steering and order about described from
The driven steer motor that dynamic knuckle rotates, each described driven steer motor is electrically connected to described steering controller；
Described active steering assembly includes that be in transmission connection with described steering column turns to machine and turned to machine to drive by described
The active steering making rotation saves；
Tubing string rotary angle transmitter, described tubing string rotary angle transmitter and described steering controller it is provided with on described steering column
Electrical connection.
Further, each described driven steering assembly and described active steering assembly also include in the face of wheel lateral force
Sensor and analysis of wheel vertical load transducer, each describedly in the face of wheel lateral force sensor and each described analysis of wheel vertical load
Sensor is electrically connected to described steering controller, and described steering controller is by describedly in the face of wheel lateral force sensor
Detection information and the detection information of described analysis of wheel vertical load transducer are to obtain the side drift angle of each corresponding wheel, and according to institute
State the deflection of the actual motion of side drift angle this wheel of correction.
Further, all use piezoelectricity in the face of wheel lateral force sensor and described analysis of wheel vertical load transducer describedly
Crystal detection ground is in the face of wheel lateral force and analysis of wheel vertical load, and transmits to described steering controller with potential difference.
Further, also include that four erection supports, each described driven knuckle or described active steering joint are the most logical
Cross erection support to install on the wheel shaft of corresponding wheel.
Further, install in corresponding described erection support in the face of wheel lateral force sensor describedly, and along right
The length direction answering the wheel shaft of wheel is arranged, and described analysis of wheel vertical load transducer is vertically installed in corresponding described erection support
In.
Further, also include that yaw-rate sensor, described yaw-rate sensor turn to described in being electrically connected to
Controller.
Further, four wheel speed sensors for detecting each wheel speed of automobile respectively, each described car are also included
Wheel speed sensor is electrically connected to described steering controller.
This utility model embodiment also provides for a kind of automobile, including two front vehicle wheels and two rear wheels, also includes
The four-wheel automobile closed loop control intelligent steering system stated, described steering mechanism and each described front vehicle wheel and each described rear car wheel driving
It is dynamically connected.
Further, described active steering joint drive connection wherein front vehicle wheel described in.
Further, also include that electronic management system, described steering controller are integrated on described electronic management system.
This utility model has the advantages that
In steering of the present utility model, three driven steering assemblies and an active steering assembly corresponding four respectively
Wheel, after steering wheel works, steering column rotates around own axes, and now tubing string rotary angle transmitter obtains turning of steering column
Dynamic angle, and then by this rotational angle information transmission to steering controller, steering controller controls the work of each driven steer motor
Order about each driven knuckle and rotate respective angles, such that it is able to realize the go to action of wherein three wheels, and on the other hand
Steering column integral drive turns to machine, is rotated respective angles by turning to machine to control active steering joint, thus realizes another wheel
Go to action.In above-mentioned work process, each several part wheel the most individually completes go to action, and does not use track rod,
Decrease unsprung mass, simultaneously because steering wheel directly controls a wherein wheel, thus ground drag suffered by this deflecting roller and
Interference can directly be fed back and be passed to driver, makes driver can obtain suitable road feel, it is ensured that handling stability when turning to, is more beneficial for
Driver manipulates automobile.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
The structural representation of the four-wheel automobile closed loop control intelligent steering system that Fig. 1 provides for this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The all other embodiments obtained, broadly fall into the scope of this utility model protection.
Seeing Fig. 1, this utility model embodiment provides a kind of four-wheel automobile closed loop control intelligent steering system, including turning to
Mechanism 1 and controlling organization 2, steering mechanism 1 is for ordering about each wheel steering of automobile, and it is the execution unit of wheel steering,
And controlling organization 2 is for controlling parts, it can control steering mechanism 1 and work, and the structure of refinement controlling organization 2, it includes turning to
Dish 21, steering column 22 and steering controller 23, steering wheel 21 is the functional unit of driver, when needs turn to, drives
Member directly rotates steering wheel 21, and for being in transmission connection between steering wheel 21 and steering column 22, steering wheel 21 can order about steering tube
Post 22 rotates around own axes, and steering controller 23 is software control centre, is provided with tubing string corner and passes on steering column 22
Sensor 221, for being electrically connected with between itself and steering controller 23, tubing string rotary angle transmitter 221 is detection part, and it can detect
The rotational angle of steering column 22, and this rotational angle information is transferred to steering controller 23, the knot of refinement steering mechanism 1
Structure, it includes three driven steering assemblies 11 and an active steering assembly 12, three driven steering assemblies 11 and automobile
Wherein three wheel correspondences, active steering assembly 12 another wheel corresponding, each driven steering assembly 11 all includes driven turn
To joint 111 and driven steer motor 112, driven knuckle 111 connects with corresponding wheel, can order about corresponding wheel steering,
Driven steer motor 112 is then that the driven knuckle 111 that can control correspondence rotates, and each driven steer motor 112 all electricity
It is connected to steering controller 23, after tubing string rotary angle transmitter 221 is by rotational angle information transmission steering controller 23, turns to control
Device 23 processed controls driven steer motor 112 according to this information and works, and then makes each driven knuckle 111 all rotate corresponding angle
Degree, active steering assembly 12 then includes turning to machine 121 to save 122 with active steering, turns between machine 121 and steering column 22 logical
Cross steering drive axle 222 to connect, and turn between machine 121 and active steering joint 122 also for being in transmission connection, i.e. by steering column 22
The active steering joint 122 corresponding angle of rotation can be controlled.In the present embodiment, after steering wheel 21 rotates, directly drive and turn to
Tubing string 22 rotates around own axes, and tubing string rotary angle transmitter 221 measures the rotational angle of steering column 22, this time-division two-way control
System, wherein a road is that steering column 22 directly drives the active steering joint 122 corresponding angle of rotation, and in another road, tubing string corner passes
Rotational angle information is transferred to steering controller 23 by sensor 221, and then is controlled each driven steer motor by steering controller 23
112 work, the driven knuckle 111 ordering about correspondence respectively rotates corresponding angle.In above-mentioned work process, three driven turn
Be to joint 111 work independently with active steering joint 122, and do not use track rod, decrease unsprung mass, while by
Directly control a wherein wheel in steering wheel 21, thus during this wheel steering, biography can be directly fed back in suffered ground drag and interference
To driver, make driver can obtain suitable road feel, it is ensured that handling stability when turning to, be more beneficial for driver and manipulate automobile.
Optimize above-described embodiment, each driven steering assembly 11 and active steering assembly 12 also included in the face of wheel side
To force transducer 231 and analysis of wheel vertical load transducer 232, ground is used for detecting wheel in the face of wheel lateral force sensor 231
In driving process in the face of the side force of wheel, analysis of wheel vertical load transducer 232 is then for detecting wheel along vertically side
To load, various places are also electrically connected to turn in the face of wheel lateral force sensor 231 and analysis of wheel vertical load transducer 232
Controller 23, all can transmit each self-monitoring side force and load information to steering controller 23.Usually, this turns to
System also has vehicle speed sensor 233, and for detecting automobile speed in the process of moving, this vehicle speed sensor 233 can also
The speed information detected is transferred to steering controller 23, according to this speed in combination with lateral in the face of it of each wheel ground
Power and the load of vertical direction, the process chip in steering controller 23 can calculate this wheel according to above-mentioned information and exist
The side drift angle of present speed, during owing to turning to, driver needs to control steering wheel 21 and rotates, i.e. by steering wheel 21 to actively turning
Impose a steering angle to joint 122 and each driven knuckle 111, this is combined side drift angle and the steering angle of each wheel, Jin Erke
To calculate the actual steering angle of each wheel, therefore the side drift angle of each wheel tyre can be adjusted by adjusting each steering angle taken turns,
Thus closed loop control at any time adjusts each deflection taking turns actual motion and meets all the time and travel along preferable track, is greatly improved height
Speed travels the handling stability turned to.Various places all use pressure in the face of wheel lateral force sensor 231 and analysis of wheel vertical load transducer 232
Electric crystal detection ground is in the face of wheel lateral force and analysis of wheel vertical load, and show that the signal of telecommunication passes with potential difference signal through bridge circuit
Be defeated by steering controller 23, this signal of telecommunication reflect each take turns suffered by knuckle along each moment taking turns wheel plane, by this
Moment can calculate in the face of each wheel lateral force, use this detection mode can accurately obtain required data message, enter
And side drift angle exactly can be calculated.
Further, steering also includes four erection supports, and four wheels of the most corresponding automobile, by this installation
Corresponding knuckle can be installed on the wheel shaft of corresponding wheel by bearing.By four erection supports by four knuckles pair
Should install, ground can also be installed in the face of wheel lateral force sensor 231 is corresponding with analysis of wheel vertical load transducer 232 simultaneously,
It is specially by ground in the face of wheel lateral force sensor 231 is installed in corresponding erection support, and the wheel shaft of the corresponding wheel in edge
Length direction is arranged, and self relative wheel of wheel lateral force sensor is laterally disposed, and ground compares in the face of the side force detection of wheel
Accurately, accordingly analysis of wheel vertical load transducer 232 is vertically installed in corresponding described erection support, be especially advantageous for car
The detection of wheel vertical load.
Optimizing above-described embodiment, steering also includes yaw-rate sensor 234, this yaw-rate sensor
234 are also electrically connected to steering controller 23.Automobile edge under the present situation can be detected vertical by yaw-rate sensor 234
The deflection of axle, then can be reflected the degree of stability of automobile by the size of this deflection.Steering also includes four wheels and turns
Speed sensor 235, four wheel speed sensors 235 and four wheel one_to_one corresponding of automobile, corresponding car is monitored in real time
The rotating speed of wheel, each wheel speed sensor 235 is electrically connected to steering controller 23.In the present embodiment, wheel speed sensor
235 rotating speeds that can reflect under present case corresponding wheel, when turning to, steering controller 23 is by this vehicle wheel rotational speed and in combination
In the face of wheel lateral force and analysis of wheel vertical load, such that it is able to more accurately calculate the side drift angle of wheel under this rotating speed, enter
And draw the actual rotational angle of this wheel so that it is meet the more preferable track of corresponding wheel, optimize steady behaviour during traveling further
Property.
Referring again to Fig. 1, this utility model embodiment also provides for a kind of automobile, including 3, two rear wheels of two front vehicle wheels
4 and above-mentioned steering, steering mechanism 1 and each front vehicle wheel 3 and each rear wheel 4 drive connection.In the present embodiment, by upper
The steering stated, on automobile, can be greatly improved the surely property grasped when turning in vehicle traveling process, reduces wheel
The abrasion of tire.And usually, the active steering in steering is saved 122 and one of them front vehicle wheel 3 drive connection, thus
So that driver obtains ground drag and interference suffered by front vehicle wheel 3 in steering procedure, this compares the behaviour meeting driver
Control custom.Certainly automobile also should include electronic management system, is integrated on this electronic management system by above-mentioned steering controller 23, no
But simplify structure and control mode, also the partial information of steering controller 23 can be shown with electronic management system, convenient drive
The person of sailing manipulates.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model
Protection domain within.
Claims (10)
1. a four-wheel automobile closed loop control intelligent steering system, including for order about the steering mechanism of each wheel steering of automobile with
And for controlling the controlling organization of described steering mechanism work, described controlling organization includes steering wheel and described steering wheel transmission
The steering column connected and the steering controller controlling the work of described steering mechanism, it is characterised in that: described steering mechanism wraps
Include three the driven steering assemblies driven with automobile wherein three-wheel one_to_one corresponding and turn with other one active taking turns corresponding driving
To assembly；
Each described driven steering assembly all includes ordering about the driven knuckle of corresponding wheel steering and ordering about described driven turn
The driven steer motor rotated to joint, each described driven steer motor is electrically connected to described steering controller；
Described active steering assembly includes that be in transmission connection with described steering column turns to machine and turned to machine to order about rotation by described
The active steering joint turned；
Being provided with tubing string rotary angle transmitter on described steering column, described tubing string rotary angle transmitter is electrically connected with described steering controller
Connect.
2. four-wheel automobile closed loop control intelligent steering system as claimed in claim 1, it is characterised in that: each described driven turn to
Assembly and described active steering assembly also include in the face of wheel lateral force sensor and analysis of wheel vertical load transducer, respectively
It is electrically connected to described steering controller in the face of wheel lateral force sensor and each described analysis of wheel vertical load transducer describedly,
Described steering controller is by described the detection information in the face of wheel lateral force sensor and described analysis of wheel vertical load sensing
The detection information of device is to obtain the side drift angle of each corresponding wheel, and according to the actual motion of described side drift angle this wheel of correction
Deflection.
3. four-wheel automobile closed loop control intelligent steering system as claimed in claim 2, it is characterised in that: describedly in the face of wheel
Lateral force sensors and described analysis of wheel vertical load transducer all use piezoquartz detection ground in the face of wheel lateral force and wheel
Vertical load, and with potential difference transmission to described steering controller.
4. four-wheel automobile closed loop control intelligent steering system as claimed in claim 2, it is characterised in that: also include four installations
Bearing, each described driven knuckle or described active steering joint are all installed in the wheel shaft of corresponding wheel by erection support
On.
5. four-wheel automobile closed loop control intelligent steering system as claimed in claim 4, it is characterised in that: describedly in the face of wheel
Lateral force sensors is installed in corresponding described erection support, and the length direction setting of the wheel shaft along corresponding wheel, described
Analysis of wheel vertical load transducer is vertically installed in corresponding described erection support.
6. four-wheel automobile closed loop control intelligent steering system as claimed in claim 1, it is characterised in that: also include yaw angle speed
Degree sensor, described yaw-rate sensor is electrically connected to described steering controller.
7. four-wheel automobile closed loop control intelligent steering system as claimed in claim 1, it is characterised in that: also include for respectively
Detection each wheel speed of automobile four wheel speed sensors, each described wheel speed sensor be electrically connected to described in turn to control
Device processed.
8. an automobile, including two front vehicle wheels and two rear wheels, it is characterised in that: also include that claim 1-7 such as is appointed
One described four-wheel automobile closed loop control intelligent steering system, described steering mechanism and each described front vehicle wheel and each described after
Wheel drive connection.
9. automobile as claimed in claim 8, it is characterised in that: described active steering joint drive connection wherein front truck described in
Wheel.
10. automobile as claimed in claim 8, it is characterised in that: also include that electronic management system, described steering controller are integrated to institute
State on electronic management system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620668700.2U CN205769559U (en) | 2016-06-30 | 2016-06-30 | Four-wheel automobile closed loop control intelligent steering system and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620668700.2U CN205769559U (en) | 2016-06-30 | 2016-06-30 | Four-wheel automobile closed loop control intelligent steering system and automobile |
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| Publication Number | Publication Date |
|---|---|
| CN205769559U true CN205769559U (en) | 2016-12-07 |
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| CN201620668700.2U Active CN205769559U (en) | 2016-06-30 | 2016-06-30 | Four-wheel automobile closed loop control intelligent steering system and automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554603A (en) * | 2016-06-30 | 2018-01-09 | 朱恒 | Four-wheel automobile closed-loop control intelligent steering system and automobile |
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2016
- 2016-06-30 CN CN201620668700.2U patent/CN205769559U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554603A (en) * | 2016-06-30 | 2018-01-09 | 朱恒 | Four-wheel automobile closed-loop control intelligent steering system and automobile |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210329 Address after: 430000, floor 1-2, building B01, Xingyi Road factory building, Hannan economic and Technological Development Zone, Hannan District, Wuhan City, Hubei Province Patentee after: Wuhan kuaichuang Technology Co.,Ltd. Address before: 430034 6th floor, office building A95, urban industrial zone, Hanzheng Street, 21 Jiefang Avenue, Qiaokou District, Wuhan City, Hubei Province Patentee before: Zhu Heng |