CN206537342U - A kind of composite turning system - Google Patents
A kind of composite turning system Download PDFInfo
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- CN206537342U CN206537342U CN201720045528.XU CN201720045528U CN206537342U CN 206537342 U CN206537342 U CN 206537342U CN 201720045528 U CN201720045528 U CN 201720045528U CN 206537342 U CN206537342 U CN 206537342U
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- 230000001133 acceleration Effects 0.000 claims abstract description 40
- 238000000034 method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model discloses a kind of composite turning system, the system includes electric boosting steering system and wire controlled four wheel steering system, including an assist motor and four wheel hub motors.According to pilot control steering wheel angle and automobile speed, current yaw velocity is calculated.The utility model proposes composite turning system model switching method according to yaw velocity, side acceleration, automobile speed and steering wheel angle, realize the working condition for switching assist motor and wheel hub motor in different speeds and driver's different operating, different power-assisted effects are provided, ensure automobile light and flexible in low speed Turning travel, high speed steering is reliable and stable when travelling.
Description
Technical field
The utility model is related to steering technical field, more particularly to a kind of composite turning system.
Background technology
Automobile steering system is the crucial assembly for determining vehicle active safety, and orthodox car steering is mechanical system
System, the divertical motion of automobile is, by pilot control steering wheel, to be delivered to steered wheel by steering gear and realize.
Automobile steer-by-wire system eliminates the mechanical connection between steering wheel and deflecting roller, is turned completely by automatically controlled realize
To, broken away from the various limitations of conventional steering system, not only can the force transfering characteristic that turns to of free design vehicle, and can be with
The angle transmission characteristic that design vehicle is turned to, the design to motor turning characteristic brings immensity, is automobile steering system
Significant innovation.But simultaneously because without mechanical connection, reliability is poor.
It is smaller that electric boosting steering system can be provided power-assisted.For motorbus, sometimes electric power steering
System is difficult to meet power steering.Corresponding power steering can be provided under any circumstance in order to meet automobile, it may be necessary to
Two sets of servo steering systems are intervened simultaneously, but two sets of servo steering systems are while when working, can produce certain energy dissipation.
Utility model content
Technical problem to be solved in the utility model is that the defect being directed to involved by background technology is multiple there is provided one kind
Close steering.
The utility model uses following technical scheme to solve above-mentioned technical problem：
A kind of composite turning system, including electric boosting steering system and wire controlled four wheel steering system；
The electric boosting steering system includes steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch
Device, assist motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system includes front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control list
Member, left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, and the other end passes through the rack and pinion steering gear and institute
Front axle is stated to be connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed
With automobile side angle acceleration；
The near front wheel, the off-front wheel of the front axle two ends respectively with automobile are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive
The near front wheel, the off-front wheel of electrical automobile；
Left rear wheel, the off hind wheel of the rear axle two ends respectively with automobile are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive
Left rear wheel, the off hind wheel of electrical automobile；
The course changing control ECU respectively with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration
Sensor, motor control unit are electrically connected, for being passed according to steering wheel angle sensor, vehicle speed sensor, side acceleration
Steering wheel angle that sensor is measured, automobile speed, side acceleration control assist motor work, calculate the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor, the torque of off hind wheel wheel hub motor simultaneously produce corresponding current signal and passed to
The motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Rear wheel hub motors, course changing control ECU are electrically connected, for according to the current signal that receives control the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
The invention also discloses a kind of mode switching method based on the composite turning system, comprise the steps of：
Step 1), the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor are surveyed
The current automobile yaw velocity of automobile speed signal of change obtained；
Step 2), course changing control ECU adds according to current yaw velocity, automobile speed, steering wheel angle and automobile side angle
Speed is calculated behind current power-assisted needed for turning to and the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Take turns the torque of wheel hub motor；
Step 3), course changing control ECU is according to the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
The torque of rear wheel hub motors produces corresponding current signal and passes to motor control unit；
Step 4), course changing control ECU will calculate obtained yaw velocity ωrWith default automobile limit yaw angular speed
Threshold value ωr0Compare；The automobile speed u that vehicle speed sensor is measured respectively with default automobile low velocity threshold u1, default automobile
High Speed Threshold u2Compare；The steering wheel angle θ that steering wheel angle sensor is measuredswWith default steering wheel angle threshold θsw0
Compare；The automobile side angle acceleration a that lateral acceleration sensor is measuredyWith default automobile lateral acceleration limit threshold value ay0
Compare；
Step 4.1), as yaw velocity ωr＞ ωr0When；
Step 4.1.1), course changing control ECU control assist motors do not work；
Step 4.1.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work and root
According to the current signal left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.2), as yaw velocity ωr＜ ωr0, side acceleration ay＞ ay0When；
Step 4.2.1), course changing control ECU control assist motors do not work；
Step 4.2.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.3), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＞ θsw0When；
Step 4.3.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.3.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.4), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＜ θsw0When；
Step 4.4.1), course changing control ECU control assist motors do not work；
Step 4.4.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.5), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＞ θsw0When；
Step 4.5.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.5.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.6), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＜ θsw0When；
Step 4.6.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.6.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
Wheel hub motor forward direction work, and control left rear wheel wheel hub motor and off hind wheel wheel hub motor not to work；
Step 4.7), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＞ θsw0When；
Step 4.7.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.7.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, and root
According to the current signal control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.8), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＜ θsw0When；
Step 4.8.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.8.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, control
Left rear wheel wheel hub motor and off hind wheel wheel hub motor do not work.
It is used as a kind of further prioritization scheme of mode switching method of composite turning system of the utility model, step 1) in
The automobile speed signal that the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor are measured
The formula for calculating current automobile yaw velocity is as follows：
In formula：a0=k1k2(a+b)2+(k2b-k1a)mu2；b0=k1k2(a+b)u；A is before barycenter is arrived
Axle wheelbase；B is barycenter to rear axle wheelbase；L=a+b；U is car speed；ωrFor automobile yaw velocity；θswTurn for steering wheel
Angle；KsScope can like according to driver to be chosen, and the scope is 0.12-0.37 1/s；k1、k2For front and back wheel cornering stiffness；M is
Complete vehicle quality.
The utility model uses above technical scheme compared with prior art, with following technique effect：
1. setting up electric boosting steering system on the basis of line traffic control four-wheel steering system, wire controlled four wheel steering system can be made up
The problem of poor reliability of uniting.
2. it can solve the problem that the problem of electric power steering can not provide enough power steerings.
3. can be operated according to different automobile running working conditions and driver, switch different power steering mode of operations,
Different power-assisted effects are provided.
Brief description of the drawings
Fig. 1 is the utility model composite turning system construction drawing；
Fig. 2 is the utility model mode switching method control flow chart.
In figure, 1- steering wheels, 2- steering wheel angle sensors, 3- steering columns, 4- reducing gears, 5- clutches, 6- power-assisteds
Motor, 7- course changing controls ECU, 8- vehicle speed sensor, 9- lateral acceleration sensors, 10- rack and pinion steering gears, 11- front axles,
12- the near front wheel wheel hub motors, 13- off-front wheel wheel hub motors, 14- motor control units, 15- left rear wheel wheel hub motors, after 16- is right
Take turns wheel hub motor, 17- rear axles.
Embodiment
The technical solution of the utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, the utility model develops a kind of composite turning system, including electric boosting steering system and line traffic control
Four-wheel steering system；
The electric boosting steering system includes steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch
Device, assist motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system includes front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control list
Member, left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, and the other end passes through the rack and pinion steering gear and institute
Front axle is stated to be connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed
With automobile side angle acceleration；
The near front wheel, the off-front wheel of the front axle two ends respectively with automobile are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive
The near front wheel, the off-front wheel of electrical automobile；
Left rear wheel, the off hind wheel of the rear axle two ends respectively with automobile are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive
Left rear wheel, the off hind wheel of electrical automobile；
The course changing control ECU respectively with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration
Sensor, motor control unit are electrically connected, for steering wheel angle sensor, vehicle speed sensor, lateral acceleration sensor
The data control assist motor work measured, calculate the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor,
The torque of off hind wheel wheel hub motor simultaneously produces corresponding current signal and passes to the motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Rear wheel hub motors, course changing control ECU are electrically connected, for according to the current signal that receives control the near front wheel wheel hub motor,
Off-front wheel wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
As shown in Fig. 2 the utility model also disclosed a kind of composite turning system model switching method, following step is included
Suddenly：
Step 1), the steering wheel angle and vehicle speed sensor that course changing control ECU is measured according to steering wheel angle sensor are surveyed
The current automobile yaw velocity of automobile speed signal of change obtained：
In formula：a0=k1k2(a+b)2+(k2b-k1a)mu2；b0=k1k2(a+b)u；A is before barycenter is arrived
Axle wheelbase；B is barycenter to rear axle wheelbase；L=a+b；U is car speed；ωrFor automobile yaw velocity；θswTurn for steering wheel
Angle；KsScope can like according to driver to be chosen, and the scope is 0.12-0.37 1/s；k1、k2For front and back wheel cornering stiffness；M is
Complete vehicle quality.
Step 2), course changing control ECU adds according to current yaw velocity, automobile speed, steering wheel angle and automobile side angle
Speed is calculated behind current power-assisted needed for turning to and the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
Take turns the torque of wheel hub motor；
Step 3), course changing control ECU is according to the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, the right side
The torque of rear wheel hub motors produces corresponding current signal and passes to motor control unit；
Step 4), course changing control ECU will calculate obtained yaw velocity ωrWith default automobile limit yaw angular speed
Threshold value ωr0Compare；The automobile speed u that vehicle speed sensor is measured respectively with default automobile low velocity threshold u1, default automobile
High Speed Threshold u2Compare；The steering wheel angle θ that steering wheel angle sensor is measuredswWith default steering wheel angle threshold θsw0
Compare；The automobile side angle acceleration a that lateral acceleration sensor is measuredyWith default automobile lateral acceleration limit threshold value ay0
Compare；
Step 4.1), as yaw velocity ωr＞ ωr0When, using four-wheel steering pattern 1：
Step 4.1.1), course changing control ECU control assist motors do not work；
Step 4.1.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work and root
According to the current signal left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.2), as yaw velocity ωr＜ ωr0, side acceleration ay＞ ay0When, using four-wheel steering pattern 2：
Step 4.2.1), course changing control ECU control assist motors do not work；
Step 4.2.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.3), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＞ θsw0When, using composite turning pattern 1：
Step 4.3.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.3.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.4), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＜ u1, steering wheel turn
Angle θsw＜ θsw0When, using four-wheel steering pattern 3：
Step 4.4.1), course changing control ECU control assist motors do not work；
Step 4.4.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and the forward direction work of off hind wheel wheel hub motor；
Step 4.5), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＞ θsw0When, using composite turning pattern 2：
Step 4.5.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.5.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
The work of wheel hub motor forward direction, control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation；
Step 4.6), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u1＜ u ＜ u2, direction
Disk rotational angle thetasw＜ θsw0When, using composite turning pattern 3：
Step 4.6.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.6.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel according to the current signal received
Wheel hub motor forward direction work, and control left rear wheel wheel hub motor and off hind wheel wheel hub motor not to work；
Step 4.7), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＞ θsw0When, using composite turning pattern 4：
Step 4.7.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.7.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, and root
According to the current signal control left rear wheel wheel hub motor and off hind wheel wheel hub motor reverse operation received；
Step 4.8), as yaw velocity ωr＜ ωr0, side acceleration ay＜ ay0, automobile speed u ＞ u2, steering wheel turn
Angle θsw＜ θsw0When, using electric power steering pattern：
Step 4.8.1), course changing control ECU Power assisted control assist motor forward direction work according to needed for when front steering；
Step 4.8.2), motor control unit controls the near front wheel wheel hub motor and off-front wheel wheel hub motor not to work, control
Left rear wheel wheel hub motor and off hind wheel wheel hub motor do not work.
In formula：ωr0It is preferential to use vehicle steadily operating mode limit inferior yaw velocity；ay0It is preferential to use vehicle steadily operating mode
Limit inferior side acceleration.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) there is the general understanding identical with the those of ordinary skill in the utility model art to anticipate
Justice.It should also be understood that those terms defined in such as general dictionary should be understood that with upper with prior art
The consistent meaning of meaning hereinafter, and unless defined as here, will not with idealization or excessively formal implication come
Explain.
Above-described embodiment, is entered to the purpose of this utility model, technical scheme and beneficial effect
One step is described in detail, be should be understood that and be the foregoing is only embodiment of the present utility model, is not used to limit
The utility model processed, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements done etc.,
It should be included within protection domain of the present utility model.
Claims (1)
1. a kind of composite turning system, it is characterised in that including electric boosting steering system and wire controlled four wheel steering system；
The electric boosting steering system comprising steering wheel, steering wheel angle sensor, steering column, reducing gear, clutch, help
Force motor, course changing control ECU, vehicle speed sensor, lateral acceleration sensor and rack and pinion steering gear；
The wire controlled four wheel steering system include front axle, the near front wheel wheel hub motor, off-front wheel wheel hub motor, motor control unit,
Left rear wheel wheel hub motor, off hind wheel wheel hub motor and rear axle；
The steering wheel of described steering column one end and automobile is fixedly linked, the other end by the rack and pinion steering gear and it is described before
Axle is connected；
The steering wheel angle sensor is arranged on steering column, the corner for obtaining steering wheel；
The assist motor is connected by clutch with reducing gear input, for providing power steering；
The reducing gear output end is arranged on steering column；
The vehicle speed sensor and lateral acceleration sensor are arranged on body of a motor car, are respectively used to obtain automobile speed and vapour
Car side acceleration；
The near front wheel, the off-front wheel of the front axle two ends respectively with automobile are connected；
The near front wheel wheel hub motor, off-front wheel wheel hub motor are separately mounted to the near front wheel, on off-front wheel, are respectively used to drive vapour
The near front wheel, the off-front wheel of car；
Left rear wheel, the off hind wheel of the rear axle two ends respectively with automobile are connected；
The left rear wheel wheel hub motor, off hind wheel wheel hub motor are separately mounted to left rear wheel, on off hind wheel, are respectively used to drive vapour
Left rear wheel, the off hind wheel of car；
The course changing control ECU is sensed with assist motor, steering wheel angle sensor, vehicle speed sensor, side acceleration respectively
Device, motor control unit are electrically connected, for according to steering wheel angle sensor, vehicle speed sensor, lateral acceleration sensor
Steering wheel angle, automobile speed, the side acceleration control assist motor measured works, and calculates before the near front wheel wheel hub motor, the right side
Wheel wheel hub motor, left rear wheel wheel hub motor, the torque of off hind wheel wheel hub motor and produce corresponding current signal pass to it is described
Motor control unit；
The motor control unit respectively with the near front wheel wheel hub motor, off-front wheel wheel hub motor, left rear wheel wheel hub motor, off hind wheel
Wheel hub motor, course changing control ECU are electrically connected, for being controlled according to the current signal received before the near front wheel wheel hub motor, the right side
Take turns wheel hub motor, left rear wheel wheel hub motor and the work of off hind wheel wheel hub motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720045528.XU CN206537342U (en) | 2017-01-16 | 2017-01-16 | A kind of composite turning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720045528.XU CN206537342U (en) | 2017-01-16 | 2017-01-16 | A kind of composite turning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206537342U true CN206537342U (en) | 2017-10-03 |
Family
ID=59938853
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720045528.XU Active CN206537342U (en) | 2017-01-16 | 2017-01-16 | A kind of composite turning system |
Country Status (1)
| Country | Link |
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| CN (1) | CN206537342U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945719A (en) * | 2017-01-16 | 2017-07-14 | 南京航空航天大学 | A kind of composite turning system and its mode switching method |
| CN108657270A (en) * | 2018-06-11 | 2018-10-16 | 南京航空航天大学 | A kind of vehicle wire-controlled steering system, fault tolerant control method and method for diagnosing faults |
-
2017
- 2017-01-16 CN CN201720045528.XU patent/CN206537342U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945719A (en) * | 2017-01-16 | 2017-07-14 | 南京航空航天大学 | A kind of composite turning system and its mode switching method |
| CN108657270A (en) * | 2018-06-11 | 2018-10-16 | 南京航空航天大学 | A kind of vehicle wire-controlled steering system, fault tolerant control method and method for diagnosing faults |
| CN108657270B (en) * | 2018-06-11 | 2023-08-15 | 南京航空航天大学 | Vehicle steer-by-wire system, fault-tolerant control method and fault diagnosis method |
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