CN207060149U - A kind of four wheels of electric automobile steering - Google Patents
A kind of four wheels of electric automobile steering Download PDFInfo
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- CN207060149U CN207060149U CN201720717923.8U CN201720717923U CN207060149U CN 207060149 U CN207060149 U CN 207060149U CN 201720717923 U CN201720717923 U CN 201720717923U CN 207060149 U CN207060149 U CN 207060149U
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- axle steering
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Abstract
It the utility model is related to a kind of four wheels of electric automobile steering.The four-wheel steering system includes nose wheel steering and rear-wheel steering system；Wherein, the nose wheel steering includes steering wheel, angular transducer, entire car controller, electric power steering pump, foresteerage gear；The rear-wheel steering system includes steering wheel, angular transducer, vehicle speed sensor, entire car controller, rear-axle steering controller, rear-axle steering motor, position sensor, rear-axle steering mechanism.The utility model can both ensure turning precision, security when and can lifting is turned, have positive meaning.
Description
Technical field
Electric automobile part field is the utility model is related to, is to be related to a kind of four wheels of electric automobile to turn to specifically
System.
Background technology
Traditional automobile steering system is front-wheel steer, and trailing wheel is not involved in turning to；Electric automobile has largely also continued to use this
A kind of steering of sample.Such steering cause automobile turn when radius of turn it is larger, turn to it is dumb, especially exist
The business district or parking lot of narrow space, the steering of vehicle are limited by bigger.
In order to overcome the shortcomings of nose wheel steering, there is a kind of four-wheel steering system in electric automobile part field.
Application No. 200510071886.X patent document discloses a kind of four-wheel steering device of electric vehicle, its technology
Scheme includes steering unit for front wheels, electronic control unit, apparatus for rear wheel steering, confirms as immediate prior art；But should
Scheme is not provided with velocity sensor, it is impossible to different replies is used according to speed is different, when being turned in the case of speed is faster
The synchronous steering mode that flexibility is larger is still taken, danger is larger when causing to turn.
Therefore, a kind of new four wheels of electric automobile steering is designed so that four-wheel steering system is meeting prior art
Function outside, additionally it is possible to security when using the steering pattern being more suitable for according to speed is different to improve turning, is ability
Field technique personnel technical problem urgently to be resolved hurrily.
The content of the invention
The technical problems to be solved in the utility model is：Design a kind of new four wheels of electric automobile steering so that turn
To system when turning outside front and back wheel linkage, additionally it is possible to it is different according to speed, using different reply patterns.
For solve aforementioned technical problem, the utility model proposes technical scheme it is as follows：
A kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system, it is characterised in that：
Wherein, the nose wheel steering include steering wheel, angular transducer, entire car controller, electric power steering pump,
Foresteerage gear；
The rear-wheel steering system includes steering wheel, angular transducer, entire car controller, rear-axle steering controller, trailing wheel
Steering motor, position sensor, rear-axle steering mechanism；
For the steering wheel by being driven axis connection and driving foresteerage gear, the angular transducer is arranged at steering wheel
On, entire car controller is connected by CAN and transmits the steering angle signal measured；Vehicle speed sensor is arranged at wheel
On, entire car controller is connected by CAN and transmits the rate signal measured；The entire car controller passes through CAN
Electric power steering pump, rear-axle steering controller are connected respectively and transmit signal；Rotated before the electric power steering pump connection
Power-assisted is provided to mechanism and when foresteerage gear acts；The rear-axle steering controller electrically connects with rear-axle steering motor,
Rear-axle steering controller can calculate the control signal of needs according to the angle signal of reception, rate signal and default formula,
And rear-axle steering motor is sent control signals to by the circuit of connection；The rear-axle steering electromechanics connects rear-axle steering
Mechanism, acted according to the control signal received and drive rear-axle steering mechanism；The position sensor is arranged at trailing wheel
Inside steering motor, connect rear-axle steering controller and transmit the position quantity signal that the rear-axle steering motor measured rotates.
Preferably, the vehicle speed sensor is magneto-electric vehicle speed sensor, and the position sensor passes for photoelectric type position
Sensor.
The control method of four wheels of electric automobile steering described in the utility model, comprises the following steps：
1. nose wheel steering control method：
Step 101：Steering wheel rotates, and drives foresteerage gear action, while angular transducer measures steering wheel to angle
Spend and entire car controller is passed to by CAN；
Step 102：Entire car controller is calculated according to the steering angle information of acquisition, draws electric power steering pump institute
The actuating quantity needed, and corresponding control signal is sent to electric power steering pump by CAN；
Step 103：Electric power steering pump obtains steering controling signal, starts working, the steering to foresteerage gear
Action provides power-assisted；
2. rear-wheel steering system control method：
Step 201：The speed letter that the angle signal and vehicle speed sensor that entire car controller sends angular transducer are sent
Number rear-axle steering controller is passed to by CAN；
Step 202：Rear-axle steering controller is judged GES；When speed is more than 20km/h, step is performed
203；When speed is less than or equal to 20km/h, step 204 is performed；
Step 203：Rear-axle steering controller is not powered to rear-axle steering motor, and rear-axle steering motor does not work, and trailing wheel is not
Turn to, only front-wheel follows the rotation of steering wheel and rotated, as shown in Figure 4；Then perform step 209；
Step 204：Rear-axle steering controller subtracts angle signal the deviation for calculating and determining, the target for obtaining trailing wheel turns
To angle；The deviation is drawn by front and back wheel position and front-wheel steer angle according to algorithm；
Step 205：The position quantity that rear-axle steering motor rotates is fed back to rear-axle steering controller, trailing wheel by position sensor
Steering controller calculates trailing wheel actual steering angle；
Step 206：Rear-axle steering controller makes the difference trailing wheel target diversion angle reference value with trailing wheel actual steering angle
Draw trailing wheel target diversion angle error amount；
Step 207：Rear-axle steering controller is converted to the trailing wheel target diversion angle error amount calculated
The time signal of rear-axle steering motor power supply, rear-axle steering motor are obtaining drive rear-axle steering mechanism rotation phase in the electric period
The angle answered；Provide that steering angle turns left for just, it is negative to turn right, voltage signal of the rear-axle steering controller to rear-axle steering motor
Be negative during right-hand rotation, to control rear-axle steering motor to different direction rotations when turning left for just；
Step 208：Rear-axle steering controller is judged trailing wheel target diversion angle error amount, works as rear wheel steering angle
When error amount is equal to 0, now trailing wheel has reached target diversion angle, is not required to turn again to, and performs step 209；Work as rear-axle steering
When angle error value is not equal to 0, returns and perform step 205；
Step 209：Terminate.
Compared with the prior art, the beneficial effects of the utility model are：
1. the four wheels of electric automobile steering in the utility model, setting and rear-axle steering by vehicle speed sensor
The effect of controller so that the system can be according to the more appropriate trailing wheel pattern of speed selection when turning, and security is more
It is high.
2. the control method of the four wheels of electric automobile steering in the utility model, by new control method flow,
So that the greater security in the four wheels of electric automobile steering design is achieved.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment；
Fig. 2 is the operation principle block diagram of rear-wheel steering system in the utility model；
Fig. 3 is operating diagram when the utility model embodiment speed is less than 20km/h；
Fig. 4 is operating diagram when the utility model embodiment speed is higher than 20km/h；
Fig. 5 is rear-wheel steering system control flow chart in the utility model four wheels of electric automobile steering.
In figure：101. steering wheel, 102. electric power steering pumps, 103. angular transducers, 104. vehicle speed sensor,
105. entire car controller, 106. rear-axle steering controllers, 107. rear-axle steering motors, 108. position sensors, after 109.
Take turns steering mechanism, 110. foresteerage gears.
Embodiment
Below in conjunction with drawings and examples, embodiment of the present utility model is described in detail as follows：
As shown in Figure 1, a kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system.
The nose wheel steering includes：Steering wheel 101, angular transducer 103, entire car controller 105, electric boosted turn
To pump 102, foresteerage gear 103；
The rear-wheel steering system includes：Steering wheel 101, angular transducer 103, vehicle speed sensor 104, entire car controller
105th, rear-axle steering controller 106, rear-axle steering motor 107, position sensor 108, rear-axle steering mechanism 109.
The entire car controller 105 can be also simply referred to as VCU.
The foresteerage gear 103 and rear-axle steering mechanism 109 include steering wheel, and the steering wheel includes worm gear snail
Lever apparatus, the change in the worm gear device control wheel direction.
The steering wheel 101 turns by the steering wheel worm gear that is driven in axis connection foresteerage gear 103 and for worm gear
It is dynamic that initial driving force is provided；The angular transducer 103 is arranged at the tubing string bottom of steering wheel 101, and vehicle is connected by CAN
Controller 105 simultaneously transmits the steering angle signal measured；The vehicle speed sensor 104 is arranged on wheel, passes through CAN
Connection entire car controller 105 simultaneously transmits the rate signal measured；The entire car controller 105 is connected respectively by CAN
Electric power steering pump 102, rear-axle steering controller 106 simultaneously transmit signal；The electric power steering pump 102 is mechanically
Connect the steering wheel worm gear in foresteerage gear 103 and provide power-assisted for the rotation of worm gear；The rear-axle steering controller 106
Electrically connected with rear-axle steering motor 107, rear-axle steering controller 106 can be according to the angle signal of reception, rate signal and default
Formula calculate the control signal of needs, and rear-axle steering motor 107 is sent control signals to by the circuit of connection；Institute
Rear-axle steering motor 107 is stated mechanically to connect rear-axle steering mechanism 109 and drive rear-axle steering mechanism 109 to do corresponding move
Make；The foresteerage gear 103 and rear-axle steering mechanism 109 are mechanical structure, connect wheel, pass through steering mechanism
Action and with the change in motor car wheel direction；Position sensor 108, institute's rheme are additionally provided with inside the rear-axle steering motor 107
Sensor 108 is put to connect rear-axle steering controller 106 and transmit the position quantity letter that the rear-axle steering motor 107 measured rotates
Number.
The vehicle speed sensor 104 is magneto-electric vehicle speed sensor rather than common photo-electric, is because magneto-electric speed
Spend sensor and do not need power supply power supply, rate signal can be just converted to by electric signal output by electromagnetic induction, this can be simplified
The circuit of a part, reduce circuit interface；And magnetoelectric velocity transducer output power, strong antijamming capability, work can
It is high by property, there is its benefit for the more complicated electric automobile of the more conventional automobile of electric field environment；Vehicle speed sensor 104 is arranged on
Inside wheel position rather than vehicle mileage table, be in order to safeguard, it is easy for installation, reduce with the infiltrations of other systems, reduce into
This, is avoided the replacing of steering from causing the replacing of the other systems exterior part such as revolution counter.The position sensor 108 is light
Electric-type position sensor, the position signalling is determined by measuring the angle of the output shaft rotation of rear-axle steering motor 107.
During Vehicular turn, the course of work of nose wheel steering is as follows：
When driver's steering wheel rotation 101, the steering wheel 101 is by being driven in axis connection foresteerage gear 103
Steering wheel, the worm gear that steering strength is acted in steering wheel, make worm gear wheel and by worm screw band motor car wheel and steering wheel 101
Rotate in same direction；Angular transducer 103 measures the steering angle of steering wheel 101, is then transferred to steering angle by CAN whole
Vehicle controller 105；Entire car controller 105 is calculated according to the steering angle information of acquisition, draws electric power steering pump 102
Required steering controling signal, electric power steering pump 102 is transferred to by CAN；102 turns of electric power steering pump
To control signal, start working, provide auxiliary strength for the steering wheel worm gear wheel in foresteerage gear 110, further lead to
Cross worm screw and drive wheel steering, turned to for driver and power-assisted is provided.
During Vehicular turn, the course of work of rear-wheel steering system is as follows：
When driver's steering wheel rotation 101, angular transducer 103 measures the steering angle of steering wheel 101, is transferred to vehicle control
Device 105 processed；Meanwhile the vehicle speed sensor 104 collects current vehicle speed information from wheel, is transmitted through entire car controller 105
To rear-axle steering controller 106.
Rear-axle steering controller 106 is judged speed, when speed is less than or equal to 20km/h, rear-axle steering controller
Angle signal is subtracted target diversion angle of certain deviation as trailing wheel by 106 so that the steering angle of trailing wheel is less than front-wheel
Steering angle, in order to the turning center of front wheels and rear wheels is maintained in same point, can so be ensured
Wheel keeps pure rolling to run in steering procedure, keeps control stability；Front wheels and rear wheels turn to simultaneously effectively to be subtracted
The radius of turn of small vehicle, is easy to vehicle to be turned in narrow space；The rear rotation that rear-axle steering controller 106 will calculate
It is the time signal that rear-axle steering motor 107 acts to angular transition, rear-axle steering motor 107 drives within the corresponding period
Rear-axle steering mechanism 109 rotates corresponding angle；Provide that steering angle turns left for just, it is negative to turn right in the present embodiment, rear rotation
To controller 106 to rear-axle steering motor 107 voltage signal when turning left for just, be negative during right-hand rotation, to control rear-axle steering
Motor 107 rotates to different directions.When speed is more than 20km/h, rear-axle steering controller 106 issues rear-axle steering motor
107 target diversion angle is 0, and trailing wheel does not turn to, only front-wheel steer, so can reduce speed it is very fast when Vehicular turn
Degree of flexibility, strengthen the stability of vehicle, ensure the driving safety of vehicle.
During rear-axle steering, after the position sensor 108 feeds back to the position quantity that rear-axle steering motor 107 rotates
Steering controller 106 is taken turns, forms a closed loop negative feedback system；Ensure the steering angle and rear-axle steering controller of trailing wheel with this
The 106 trailing wheel target diversion angles calculated are consistent.
Four wheels of electric automobile steering control method step described in the present embodiment is as follows：
1. nose wheel steering control method：
Step 101：Steering wheel 101 is rotated, and drives foresteerage gear 103 to act, while angular transducer 103 is measured and turned
Entire car controller 105 is passed to the steering angle of disk 101 and by CAN.
Step 102：Entire car controller 105 is calculated according to the steering angle information of acquisition, draws electric power steering
Actuating quantity needed for pump 102, and corresponding control signal is sent to electric power steering pump 102 by CAN.
Step 103：Electric power steering pump 102 obtains steering controling signal, starts working, is foresteerage gear 110
Go to action provide power-assisted.
2. rear-wheel steering system control method：
Step 201：The angle signal and vehicle speed sensor 104 that entire car controller 105 sends angular transducer 103 are sent
GES rear-axle steering controller 106 is passed to by CAN.
Step 202：Rear-axle steering controller 106 is judged GES；When speed is more than 20km/h, step is performed
Rapid 203；When speed is less than or equal to 20km/h, step 204 is performed.
Step 203：Rear-axle steering controller 106 is not powered to rear-axle steering motor 107, the not work of rear-axle steering motor 107
Make, trailing wheel does not turn to, and only front-wheel follows the rotation of steering wheel 101 and rotated, as shown in Figure 4；Then perform step 209.
Step 204：Rear-axle steering controller 106 subtracts angle signal the deviation for calculating and determining, obtains the mesh of trailing wheel
Mark steering angle；The deviation is drawn by front and back wheel position and front-wheel steer angle according to algorithm.
Step 205：The position quantity that rear-axle steering motor 107 rotates is fed back to rear-axle steering control by position sensor 108
Device 106, rear-axle steering controller 106 calculate trailing wheel actual steering angle.
Step 206：Rear-axle steering controller 106 does trailing wheel target diversion angle reference value with trailing wheel actual steering angle
Difference draws trailing wheel target diversion angle error amount.
Step 207：Rear-axle steering controller 106 is converted to the trailing wheel target diversion angle error amount calculated accordingly
The time signal powered for rear-axle steering motor 107, rear-axle steering motor 107 is in the drive rear-axle steering machine in the electric period that obtains
Structure 109 rotates corresponding angle；Provide that steering angle turns left for just, it is negative to turn right, and rear-axle steering controller 106 gives rear-axle steering
The voltage signal of motor 107 be negative during right-hand rotation, to control rear-axle steering motor 107 to different direction turn for just when turning left
It is dynamic.
Step 208：Rear-axle steering controller 106 is judged trailing wheel target diversion angle error amount, works as rear-axle steering
When angle error value is equal to 0, now trailing wheel has reached target diversion angle, is not required to turn again to, and performs step 209；Work as trailing wheel
When steering angle error amount is not equal to 0, returns and perform step 205.
Step 209：Terminate.
Speed criterion obtains after being considered according to tire adhesion force curve generalization in step 202；According to experiment number
According to when speed is higher than 20km/h, the amplitude that tire declines to the adhesive force on ground can be bigger, because rear-wheel steering system is
One servomechanism, can be because decline of the tire to traction rotates after causing if rear-wheel steering system is interfered
Increase to error, easily cause to turn to uncontrolled.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality
Type.A variety of modifications to embodiment will be apparent for those skilled in the art, as defined herein
General Principle can in other embodiments be realized, do not give in the case where not departing from spirit or scope of the present utility model
Describe the part presented with partial enlargement in detail, be prior art, herein without repeating.Therefore, the utility model will not
It is intended to be limited to the embodiments shown herein, and is to fit to consistent with principles disclosed herein and feature most wide
Scope.
Claims (2)
1. a kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system, it is characterised in that：
Wherein, the nose wheel steering includes steering wheel（101）, angular transducer（103）, entire car controller（105）, it is electronic
Power-assisted steering pump（102）, foresteerage gear（110）；
The rear-wheel steering system includes steering wheel（101）, angular transducer（103）, entire car controller（105）, rear-axle steering
Controller（106）, rear-axle steering motor（107）, position sensor（108）, rear-axle steering mechanism（109）；
The steering wheel（101）By being driven axis connection and driving foresteerage gear（110）, the angular transducer（103）
It is arranged at steering wheel（101）On, entire car controller is connected by CAN（105）And transmit the steering angle signal measured；
Vehicle speed sensor（104）It is arranged on wheel, entire car controller is connected by CAN（105）And transmit the speed measured
Signal；The entire car controller（105）Connect electric power steering pump respectively by CAN（102）, rear-axle steering controller
（106）And transmit signal；The electric power steering pump（102）Connect foresteerage gear（110）And in foresteerage gear
（110）Power-assisted is provided during action；The rear-axle steering controller（106）With rear-axle steering motor（107）Electrical connection, rear-axle steering
Controller（106）The control signal of needs can be calculated according to the angle signal of reception, rate signal and default formula, and led to
The circuit for crossing connection sends control signals to rear-axle steering motor（107）；The rear-axle steering motor（107）After mechanical connection
Take turns steering mechanism（109）, acted according to the control signal received and drive rear-axle steering mechanism（109）；The position
Sensor（108）It is arranged at rear-axle steering motor（107）Inside, connect rear-axle steering controller（106）And transmit what is measured
Rear-axle steering motor（107）The position quantity signal of rotation.
2. four wheels of electric automobile steering according to claim 1, it is characterised in that the vehicle speed sensor（104）
For magneto-electric vehicle speed sensor, the position sensor（108）For photoelectric position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720717923.8U CN207060149U (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720717923.8U CN207060149U (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207060149U true CN207060149U (en) | 2018-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720717923.8U Expired - Fee Related CN207060149U (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207060149U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466626A (en) * | 2018-11-20 | 2019-03-15 | 山东汇强重工科技有限公司 | A kind of full drive is complete to turn to specialized truck chassis |
-
2017
- 2017-06-20 CN CN201720717923.8U patent/CN207060149U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466626A (en) * | 2018-11-20 | 2019-03-15 | 山东汇强重工科技有限公司 | A kind of full drive is complete to turn to specialized truck chassis |
| CN109466626B (en) * | 2018-11-20 | 2022-05-17 | 山东汇强重工科技有限公司 | Full-drive full-steering special truck chassis |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 Termination date: 20200620 |