CN206155561U - Intelligence swizzle adaptive control system - Google Patents
Intelligence swizzle adaptive control system Download PDFInfo
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- CN206155561U CN206155561U CN201620943007.1U CN201620943007U CN206155561U CN 206155561 U CN206155561 U CN 206155561U CN 201620943007 U CN201620943007 U CN 201620943007U CN 206155561 U CN206155561 U CN 206155561U
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- stub
- swizzle
- wheel
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- motor
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Abstract
Intelligence swizzle adaptive control system belongs to auto wheel location field, and in the time of solving artifical adjustment wheel parameter, swizzle parameter, the adjustment degree of difficulty is big, consumes man -hour, and the limited problem of precision, and the technical essential is: including the control unit, it is connected in swizzle driving motor assembly respectively and turns to the motor assembly, swizzle driving motor assembly, fixed point pull rod, swizzle driving motor on swizzle position sensor, swizzle, swizzle lower fixing rod, scalable swizzle, swizzle lower fixing rod connects the swizzle, fixed point pull rod on the scalable swizzle of knuckle, swizzle driving motor is connected to the fixed point pull rod on the scalable swizzle of knuckle, swizzle position sensor transmits swizzle positional information for the control unit, and swizzle driving motor carries out the the control unit instruction with drive swizzle inclination.
Description
Technical field
The utility model belongs to automotive wheel positioning field, is related to a kind of intelligent stub adaptive control system.
Background technology
Vehicle wheel alignment parameter has respectively front-wheel inclination angle, caster, typically there is front wheel camber, toe-in of front wheel, stub
Four kinds of introversion, reverse caster.Front wheel alignment includes castor, kingpin inclination, front-wheel camber and toe-in of front wheel four
Content.Trailing wheels include camber angle and one by one trailing wheel toe-in.So front wheel alignment and trailing wheels in general chauffeur
Wheel positioning, that is, the four-wheel aligner often said.The effect of wheel alignment is that the straight-line travelling for making automobile holding stable is light with steering
Just, and reduce automobile under steam tire and turn to parts abrasion.
Front wheel camber：Negative camber angle (the negative camber angle of very little generally only can be set：The vehicle car from terms of front and back
Wheel, in "eight" shape) to give wheel bearing, appropriate transverse pressure is allowed to reference to more closely reduction Bearing inner vibrations.Flare
Angle also affects to a certain extent the steering characteristic of vehicle.
Toe-in of front wheel：" pigeon-toed ", left and right front-wheel is respectively inwards.It is amendment front-wheel camber using this structure purpose
The wheel for causing is laterally rotated.Due to there is flare, steering wheel operation becomes easy.On the other hand, due to the tilting of wheels, left and right
Front-wheel is laterally rotated respectively, and in order to correct this problem, if left and right two-wheeled carries inside angle, positive and negative is zero, left
Right two-wheeled can keep straight line to advance, and reduce tire wear.
Kingpin inclination：From during tire, stub axial direction vehicle body inner side inclines, and the angle is referred to as Kingpin inclination in terms of Chinese herbaceous peony rear direction
Angle.When wheel is turned round centered on stub, the minimum point of wheel will sink into below road surface, but actually wheel lower limb can not
Can be absorbed in below road surface, but steered wheel is lifted up into a corresponding height, such automobile together with whole automotive front
The gravity of itself has the effect for making steered wheel be returned to original centre position, thus steering wheel resets easily.Additionally, in stub
Inclination angle also causes main pin axis to reduce with the distance of road surface intersection point to central plane of wheel and ground intersection, so as to reduce during steering
Driver adds power on the steering wheel, makes handling maneuver light, while can also reduce the impact passed on steering wheel from deflecting roller
Power.But kingpin inclination is also unsuitable excessive, has otherwise speedd up the abrasion of tire.
Reverse caster：Wheel from the side, pivot stud (pivot during wheel steering) is toppled over backward, referred to as stub
Back rake angle.After castor is set, between the earth point of king pin axis and the floor projection point of wheel center distance is produced
(referred to as mechanical trail, identical with the sweptback principle of front fork beam of bicycle), make wheel earth point be located at turn
To the rear end of stub extended line, wheel is just pulled rearward by the rolling resistance in traveling, makes the direction of wheel natural towards traveling
Direction.The very big castor of setting can improve linear driving performance, while mechanical trail also increases.Wheel caster is moved
Away from excessive, steering wheel can be made heavy, and aggravate pitching for wheel due to road agitation.
Stub fixed form of the prior art is the fixed forms such as steady pin, bolt, adjusts be required for phase every time
It is adjusted after should partly loosening, is fastened again after regulation.
Camber angle is individually adjusted：For some vehicles, the adjustment bolt rotated on shock absorber traveller can just change it
Camber angle, this camber adjustment bolt is in fact to instead of original shock absorber traveller installation bolt.Adjustment bolt
It is a bit of be do not have it is threaded, and diameter be change, for the adjustment of camber, such adjustment generally exists
Use on McPherson slide column type front suspension.
Reverse caster is individually adjusted：By the nut with support bar or space washer change between underarm and support bar away from
From adjusting reverse caster.Such adjustment is generally used on candle suspension or on double wishbone suspension.
Camber and castor are adjusted simultaneously：
1) eccentric cam formula installation bolt is located in the inner contact of underarm, in rotating the lower spheric connection of the bolt movement
The heart so as to incline and adjust camber and reverse caster.This method of adjustment is generally on slide cylinder type suspension or in double rocking arms
Use on suspension.
2) installation bolt before and after on underarm changes underarm established angle and also changes the position of lower spheric connection.This adjustment
Method is generally used on slide cylinder type suspension or double wishbone suspension.
3) upper arm established angle, that is, upper spheric connection position are changed with pad quantity or thickness is increased or decreased.It is this
Method of adjustment is generally used on double wishbone suspension.
With the use of vehicle, the positional parameter of wheel can change.Above-mentioned stub structure, needs to adjust wheel parameter
When, needing manually to go individually to adjust wheel parameter, stub parameter, adjustment difficulty is big, expends man-hour, and limited precision；
Change of the above-mentioned traditional stub in vehicle travel process can only observe oil consumption, whether sideslip by driver, be
No tire etc. of eating is judged that when driver has found that four wheel locating parameter is abnormal, vehicle has occurred that excessive oil consumption, side
To sideslip, the phenomenons such as tire are eaten, already cause certain loss, the passive exception for finding wheel alignment parameter can not basis
Vehicle actual conditions carry out adaptive calibration.
Utility model content
During in order to solve to manually adjust wheel parameter, stub parameter, adjustment difficulty is big, expends man-hour, and limited precision
Problem, the present invention proposes following technical scheme：
A kind of intelligent stub adaptive control system, including
Control unit, it is connected to stub motor assembly and steer motor assembly；
The stub motor assembly, including fix bar, scalable stub under stub position sensor, stub, stub
Upper fixing point pull bar, stub motor, fix bar connection stub under stub, stub connects fixing point on scalable stub and draws
Bar, fixing point pull bar connection stub motor on scalable stub；Stub position sensor passes to stub positional information
Control unit, stub motor performs control unit instruction to drive caster；
The steer motor assembly, including wheel position sensors, left steering power motor, right turn power motor, it is left
Steering power motor is integrated in the left suspension of vehicle vehicle frame nearby, and right turn power motor is integrated in right suspension car nearby
Frame, and vehicle location sensor collection wheel angle information, and transmit to control unit, left and right steer motor is connected to control
Unit, and its respective side deflecting roller of its order-driven is performed around stub rotation.
Further, described left and right steering power motor, connects respectively the track rod of respective side, turns to horizontal drawing
Bar connects the knuckle arm of respective side, and knuckle arm connects the deflecting roller of respective side.
Further, the knuckle arm of each side is connected to its corresponding suspension vehicle frame nearby.
Further, intelligent stub adaptive control system also includes fixed for showing Current vehicle four-wheel information, wheel
The host computer of position state, the host computer is connected to controller.
Further, the host computer has the parameter input module for being input into wheel of vehicle positional parameter.
Beneficial effect：The utility model optimizes frame for movement, changes by electronic signal control, location-based automatic data collection
And regulation, intelligent height is adjusted, save time and high precision.
Description of the drawings
Fig. 1. stub motor assembly；
Fig. 2 steer motor assemblies.
Wherein：1. deflecting roller, 2. knuckle arm, 3. track rod, the 4. neighbouring vehicle frame of suspension, 5. steering power electricity
Machine, 6. fix bar under stub, 7. stub, 8. fixing point pull bar on scalable stub, 9. stub motor.
Specific embodiment
Embodiment 1：A kind of intelligent stub adaptive control system, including
Control unit, it is connected to stub motor assembly and steer motor assembly；
Fix bar 6, scalable master under the stub motor assembly, including stub position sensor, stub 7, stub
Fixing point pull bar 8, stub motor 9 on pin, the connection of fix bar 6 stub 7 under stub, stub 7 connects solid on scalable stub
Fixed point pull bar 8, the connection stub of fixing point pull bar 8 motor 9 on scalable stub；Stub position sensor believes stub position
Breath passes to control unit, and stub motor 9 performs control unit instruction to drive caster；
The steer motor assembly, including wheel position sensors, left steering power motor, right turn power motor, it is left
Steering power motor is integrated in the left suspension of vehicle vehicle frame nearby, and right turn power motor is integrated in right suspension car nearby
Frame, and vehicle location sensor collection wheel angle information, and transmit to control unit, left and right steer motor is connected to control
Unit, and its respective side deflecting roller of its order-driven is performed around stub rotation.Described left and right steering power motor connects respectively
The track rod 3 of respective side, track rod 3 connects the knuckle arm 2 of respective side, and knuckle arm 2 connects turning for respective side
To wheel 1.The knuckle arm 2 of each side is connected to its corresponding suspension vehicle frame 4 nearby.
Intelligent stub adaptive control system is also included for showing Current vehicle four-wheel information, wheel alignment status
Position machine, the host computer is connected to controller.The host computer has the parameter input mould for being input into wheel of vehicle positional parameter
Block.
Embodiment 2：As the supplement of the technical scheme of embodiment 1, the intelligent stub adaptive control system in the present embodiment,
Mainly it is made up of following part：
Control unit：According to vehicle initial setting up, current wheel, stub position and initial setting up parameter are compared,
When actual parameter and initial setting up parameter error are more than or equal to 5%, control unit is intelligently extensive by turning to motor assembly
Multiple toeing-in parameter, by stub motor assembly intelligent restoration stub parameter；
Stub motor assembly：Comprising fix bar under stub position sensor, stub, stub (point), scalable stub
Upper fixing point pull bar, stub motor.Installation site is consistent with orthodox car.Stub position sensor is by stub positional information
Control unit is passed to according to certain frequency, the calculating for control unit is compared, stub motor can be single by controlling
Metainstruction drives caster；
Steer motor assembly：Steer motor assembly totally two, respectively comprising respective wheel position sensors, driving electricity
Wheel angle information is passed to control unit by machine, track rod, wherein wheel position sensors according to certain frequency, is used for
The calculating of control unit is compared.Steer motor can drive rotating around stub for this side wheel by the instruction of control unit；
Man-machine interface：For showing Current vehicle four-wheel information, wheel alignment status are fed back, during abnormal state, prompting is driven
The person of sailing is safeguarded；On the other hand, when wheel of vehicle positional parameter needs to reset, can be arranged by artificial, automatically
Adjust wheel and stub position.
Just there is one group of four wheel locating parameter in controller after cure parameter, using this parameter as standard figures.In vehicle
During traveling, when Toe-in deviates standard figures more than 5% and is continued above certain period of time, control unit is driven
Dynamic steer motor assembly, changes cross steering lever length, and then adjusts nose wheel angle, reaches the purpose of adjustment toe-in of front wheel.In the same manner,
When in vehicle travel process, the whether change of vehicle load quality or travelling road conditions changes, once caster is inclined
From standard figures more than 5% and when being continued above certain period of time, control unit drives stub motor assembly, change to stretch
Fixing point pull bar length on contracting stub, and then adjust caster.
The present embodiment optimizes traditional frame for movement, changes by electronic signal control, and reaction speed is fast；The present embodiment can
Wheel, stub parameter are monitored, once there is exception, the very first time driver can be fed back to, driving are greatly improved and is relaxed
Adaptive, security, fuel economy；Increased in the present embodiment to the ageing of four-wheel aligner monitoring, vehicle row is effectively ensured
Self-aligning performance, drive safety, driver comfort, Driving control sense after not sideslip, steering is sailed, fuel consumption, drop is reduced
Low sprung parts consume, reduces tire wear；Four wheel locating parameter can do an initial setting up in the present embodiment, once wheel
Parameter has change, and the system can be corrected automatically；The present embodiment steering can to different driving experiences increase different mode,
Meet different drivers and the drive demand under different situations；The present embodiment realizes the electrification of four-wheel aligner, substantially reduces
Maintenance cost of labor, substantially reduces the failure that vehicle is produced because of four-wheel aligner problem, and for follow-up Based Intelligent Control hardware base is provided
Plinth；The present embodiment structure is easily achieved, and possesses versatility.
Embodiment 3：As the supplement of the technical scheme of embodiment 1 or 2, described steer motor assembly, come from a kind of vapour
Car wire-controlled steering system, the steering includes：Steering wheel, controller；The steering wheel is provided with steering wheel angle sensor,
The controller is connected with steering wheel angle sensor, and the controller connects respectively left and right steering power motor and wheel position
Sensor is put, left steering power motor is integrated in the left suspension of vehicle vehicle frame nearby, and right turn power motor is integrated in right outstanding
Arrangement adjacent vehicle frame is hung, left and right steering power motor drives respectively its respective side deflecting roller.Described left and right steering power electricity
Machine, connects respectively the track rod of respective side, and track rod connects the knuckle arm of respective side, knuckle arm connection correspondence
The deflecting roller of side.The knuckle arm of each side is connected to its corresponding suspension vehicle frame nearby.
Used as the supplement of technical scheme, automobile steer-by-wire system also includes road feel simulator.The steering wheel therein
Rotary angle transmitter is the sensor for gathering steering wheel angle information.The controller is for by steering wheel angle information
The controller of the rotational angle with left and right wheel.
More specifically：
This automobile steer-by-wire system is mainly made up of steering wheel, controller, steer motor assembly, road feel simulator, is turned
Deflecting roller, knuckle arm, track rod, suspension nearby vehicle frame, steering power motor are included to motor assembly, is driven
Member is processed by the direction information that steering wheel is input into through controller, is converted into the driving force of steering power motor, steering power
Motor controls the corner of deflecting roller by pushing or pulling on the action of track rod by knuckle arm, and road feel simulator is used for mould
Intend the feel of conventional steering system, to improve driving texture.
It is therein：
Steering wheel：Steering wheel angle sensor is included in steering wheel, in real time can be believed steering wheel angle information, angular speed
Breath, angular acceleration information transmission are to controller.
Controller：Left and right turn wheel optimum rotation angle is calculated according to the corner information of steering wheel, left/right rotation is controlled
To driving of the power motor to deflecting roller；When vehicle is travelled, can be initial by the control to steering power motor and system
The contrast of setting value, carries out the prenex amendment of steering power electric locomotive wheel automatically.Controller can have several to Wheel toe-in
The setting of different mode, for example comfortably, moves and racing track pattern, and for different mode, toe-in value is different.Deflection is light when comfortable
Just, motion is biased into Driving, and performance is partial to during racing track.
Steer motor assembly：Steer motor assembly totally two, respectively comprising respective wheel position sensors, steering power
Motor, track rod, wheel position sensors Real-time Feedback gives controller current steered wheel angle；Steer motor assembly is distinguished
It is integrated near left and right vehicle wheel suspension on vehicle frame, will not be across whole front part of vehicle.Steer motor assembly can be by control
The instruction of device processed, drives the corner of this side deflecting roller.
Road feel simulator：By speed and the feedback of motor driving force, simulation steering wheel is damped and feedback force, is improved and is driven
Texture.Road feel simulator can be divided into comfortably, motion and racing track option, in different modes to the feedback of wheel steering system
Damping is different with dynamics, meets the drive demand of different mode.
The present embodiment has abandoned traditional frame for movement, changes by electronic signal control, and reaction speed is fast；The utility model does not have
There is " burden " of mechanical connection, so this set system will filter out most unnecessary vibrations, comfortableness is good；The utility model
Middle steering does not have steering gear and steering drive axle, so when vehicle collides, the possibility that steering column is invaded is zero,
Vehicle safety is improved.The utility model simple structure, it is easy to process, install, possess versatility.
The above, only the invention preferably specific embodiment, but the protection domain of the invention is not
Be confined to this, any those familiar with the art in the technical scope that the invention is disclosed, according to the present invention
The technical scheme of creation and its inventive concept equivalent or change in addition, all should cover the invention protection domain it
It is interior.
Claims (5)
1. a kind of intelligent stub adaptive control system, it is characterised in that include
Control unit, it is connected to stub motor assembly and steer motor assembly；
The stub motor assembly, including stub position sensor, stub（7）, fix bar under stub（6）, scalable master
Fixing point pull bar on pin（8）, stub motor（9）, fix bar under stub（6）Connection stub（7）, stub（7）Connection can stretch
Fixing point pull bar on contracting stub（8）, fixing point pull bar on scalable stub（8）Connection stub motor（9）；Stub position passes
Stub positional information is passed to control unit, stub motor by sensor（9）Control unit instruction is performed to drive stub to incline
Angle；
The steer motor assembly, including wheel position sensors, left steering power motor, right turn power motor, left steering
Power motor is integrated in the left suspension of vehicle vehicle frame nearby, and right turn power motor is integrated in right suspension vehicle frame nearby,
And vehicle location sensor collection wheel angle information, and transmit to control unit, it is single that left and right steer motor is connected to control
Unit, and its respective side deflecting roller of its order-driven is performed around stub rotation.
2. intelligence stub adaptive control system as claimed in claim 1, it is characterised in that described left and right steering power
Motor connects respectively the track rod of respective side（3）, track rod（3）The knuckle arm of connection respective side（2）, knuckle
Arm（2）The deflecting roller of connection respective side（1）.
3. intelligence stub adaptive control system as claimed in claim 1, it is characterised in that the knuckle arm of each side（2）Even
It is connected to its corresponding suspension vehicle frame nearby（4）.
4. intelligence stub adaptive control system as claimed in claim 1, it is characterised in that also include for showing current vehicle
Four-wheel information, the host computer of wheel alignment status, the host computer is connected to controller.
5. intelligence stub adaptive control system as claimed in claim 4, it is characterised in that the host computer has for defeated
Enter the parameter input module of wheel of vehicle positional parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620943007.1U CN206155561U (en) | 2016-08-25 | 2016-08-25 | Intelligence swizzle adaptive control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620943007.1U CN206155561U (en) | 2016-08-25 | 2016-08-25 | Intelligence swizzle adaptive control system |
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| CN206155561U true CN206155561U (en) | 2017-05-10 |
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| CN201620943007.1U Active CN206155561U (en) | 2016-08-25 | 2016-08-25 | Intelligence swizzle adaptive control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826029A (en) * | 2017-10-27 | 2018-03-23 | 合肥正浩机械科技有限公司 | A kind of section of jurisdiction heavy type transport vehicle |
| CN110001381A (en) * | 2019-04-16 | 2019-07-12 | 智导灵(苏州)智能科技有限公司 | A kind of new-energy automobile wheel side separated type drive assembly |
| CN112238899A (en) * | 2020-10-16 | 2021-01-19 | 中国北方车辆研究所 | Mechanism for adjusting caster angle of main pin of single-trailing-arm independent suspension |
| CN113734284A (en) * | 2021-08-31 | 2021-12-03 | 东风汽车集团股份有限公司 | Steering hand force adjustable mechanism and adjusting method |
-
2016
- 2016-08-25 CN CN201620943007.1U patent/CN206155561U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826029A (en) * | 2017-10-27 | 2018-03-23 | 合肥正浩机械科技有限公司 | A kind of section of jurisdiction heavy type transport vehicle |
| CN110001381A (en) * | 2019-04-16 | 2019-07-12 | 智导灵(苏州)智能科技有限公司 | A kind of new-energy automobile wheel side separated type drive assembly |
| CN112238899A (en) * | 2020-10-16 | 2021-01-19 | 中国北方车辆研究所 | Mechanism for adjusting caster angle of main pin of single-trailing-arm independent suspension |
| CN113734284A (en) * | 2021-08-31 | 2021-12-03 | 东风汽车集团股份有限公司 | Steering hand force adjustable mechanism and adjusting method |
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