CN207955770U - A kind of automatic driving vehicle steering control system - Google Patents
A kind of automatic driving vehicle steering control system Download PDFInfo
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- CN207955770U CN207955770U CN201820335188.9U CN201820335188U CN207955770U CN 207955770 U CN207955770 U CN 207955770U CN 201820335188 U CN201820335188 U CN 201820335188U CN 207955770 U CN207955770 U CN 207955770U
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- steering
- control system
- gear
- bracket
- unmanned vehicle
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- 238000006243 chemical reaction Methods 0.000 description 1
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses a kind of automatic driving vehicle steering control systems, including active steering actuating unit, are fixed on vehicle frame；Steering mechanism is connected to the active steering actuating unit；Driven steering power mechanism, is connected in the steering mechanism.A kind of automatic driving vehicle steering control system of the utility model can effectively solve the problems such as steering is shaken, steering moment is insufficient by the collaborative work of two motors.
Description
Technical Field
The utility model relates to a fields such as unmanned vehicle control system specifically are an unmanned vehicle steering control system.
Background
At present, the unmanned technology is rapidly developed, a steering control part of an unmanned vehicle generally adopts motor drive control alone, when the vehicle runs stably and the road condition is good, the motor drive control alone can obtain good control effect, but when the vehicle runs at a standstill or at a low speed, the response of a vehicle steering system is often delayed due to large steering torque requirement; the phenomena of steering insufficiency, steering overshoot and steering shaking are easily caused; this phenomenon is particularly obvious when the vehicle is loaded, and the technical defects of the existing steering control system become a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The utility model aims at: the steering control system of the unmanned vehicle is provided to solve the problems that the steering control system in the prior art has response hysteresis and the response of the steering system under different vehicle conditions has great difference.
The technical scheme for realizing the purpose is as follows: a steering control system of an unmanned vehicle comprises an active steering power mechanism, a steering control mechanism and a steering control mechanism, wherein the active steering power mechanism is fixed on a vehicle frame; the steering mechanism is connected with the active steering power mechanism; and the driven steering power mechanism is connected to the steering mechanism.
In a preferred embodiment of the present invention, the active steering power mechanism is mounted on a first bracket fixed to the frame.
In a preferred embodiment of the present invention, the active steering power mechanism includes an active motor fixed to the first bracket; and the first worm and gear speed reducing mechanism is assembled on the first bracket in a matching way with the driving motor.
In a preferred embodiment of the present invention, the steering mechanism includes a steering transmission shaft, one end of which is connected to a shaft of the driving motor for outputting torque; and the steering encoder is arranged at the other end of the steering transmission shaft.
In a preferred embodiment of the present invention, the power driven steering mechanism is fixed to the second bracket.
In a preferred embodiment of the present invention, the driven steering power mechanism includes a rack and pinion steering gear fixed to the second bracket and connected to the end of the steering transmission shaft having the steering encoder; the second worm gear and worm speed reducing mechanism is assembled at one end of the steering transmission shaft, which is provided with the steering encoder; the servo power-assisted motor is connected to the second worm and gear speed reducing mechanism; and the steering tie rod is assembled on the gear rack steering gear.
The utility model has the advantages that: the utility model discloses an unmanned vehicle steering control system adopts electronic active control, and servo motor power assisted steering, whole steering control system has the response rapidly like this, and the great characteristics of moment of torsion, is applicable to the accurate control to vehicle steering system under the various vehicle conditions. The driving motor pushes the steering transmission shaft to rotate with smaller torque, and the follow-up power-assisted motor provides larger torque to follow the steering system for steering power assistance. Because the big moment of torsion follow-up that follow-up helping hand motor system provided can fundamentally eliminate when singly adopting single motor control system because the uneven turning overshoot that arouses in road surface turns to not enough and turn to the shake problem, the utility model discloses the scheme is easily controlled and control effectually, is adapted to the steering control under each car condition of each vehicle. When the steering system of the active motor fails, the active motor system can be disconnected, and temporary steering control can be realized by controlling the servo power-assisted motor. Because 2 sets of steering systems are mutually standby, the steering control system is particularly suitable for steering control under an unmanned automobile.
Drawings
The invention is further explained below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of a steering control system of an unmanned vehicle according to an embodiment of the present invention.
Wherein,
11 a first support; 12 an active motor;
13 a first worm gear reduction mechanism; 21 a steering transmission shaft;
22 a steering encoder; 31 a second bracket;
a 32 rack and pinion steering gear; 33 a second worm reduction mechanism;
34 a servo power-assisted motor; 35 track rod.
Detailed Description
The following description of the embodiments refers to the accompanying drawings for illustrating the specific embodiments in which the invention may be practiced. In the present invention, directional terms such as "up", "down", "front", "back", "left", "right", "top", "bottom", etc. refer to directions of the attached drawings only. Accordingly, the directional terms used are used for describing and understanding the present invention, and are not used for limiting the present invention.
Example (b): as shown in fig. 1, a steering control system for an unmanned vehicle includes a driving steering power mechanism, a steering mechanism, and a driven steering power mechanism.
The active steering power mechanism is mounted on a first bracket 11, and the first bracket 11 is fixed on the frame. Specifically, the active steering power mechanism comprises an active motor 12 and a first worm and gear speed reducing mechanism 13, wherein the active motor 12 is fixed on the first support 11; the first worm gear reduction mechanism 13 is assembled on the first bracket 11 in cooperation with the driving motor 12. The driving motor 12 reduces the output rotation speed and increases the output torque through the first worm and gear speed reducing mechanism 13.
The steering mechanism is connected with the active steering power mechanism. Specifically, the steering mechanism comprises a steering transmission shaft 21 and a steering encoder 22, wherein one end of the steering transmission shaft 21 is connected to a crankshaft of the driving motor 12 for outputting torque; a steering encoder 22 is provided at the other end of the steering transmission shaft 21. The steering transmission shaft 21 is composed of an axle tube, a telescopic sleeve and a universal joint. The telescopic sleeve can automatically adjust the change of the distance between the transmission and the drive axle. The universal joint ensures the change of the included angle between two axes of the output shaft of the speed changer and the input shaft of the drive axle and realizes the equal angular speed transmission of the two shafts. The photoelectric rotary encoder can convert mechanical quantities such as angular displacement and angular speed of an output shaft into corresponding electric pulses through photoelectric conversion and output the electric pulses in digital quantity (REP). The output is divided into a single-path output and a double-path output. The technical parameters mainly comprise the pulse number per revolution (dozens to thousands of pulses exist), the power supply voltage and the like. The single-path output means that the output of the rotary encoder is a group of pulses, while the double-path output rotary encoder outputs two groups of pulses with 90-degree A/B phase difference, and the two groups of pulses can measure the rotating speed and judge the rotating direction.
The driven steering power mechanism is fixed on the second bracket 31 and connected to the steering mechanism. The driven steering power mechanism comprises a rack and pinion steering gear 32, a second worm and gear speed reducing mechanism 33, a servo power motor 34 and a steering tie rod 35, wherein the rack and pinion steering gear 32 is fixed on the second bracket 31 and is connected to one end of the steering transmission shaft 21, which is provided with the steering encoder 22; the second worm gear speed reduction mechanism 33 is assembled at one end of the steering transmission shaft 21 having the steering encoder 22; the servo-assisted motor 34 is connected to the second worm and gear speed reducing mechanism 33; the tie rod 35 is assembled to the rack and pinion steering gear 32. The steering transmission shaft 21 transmits the output torque of the driving motor 12 to the rack and pinion steering gear 32, the servo power motor 34 detects the torque and angle change of the steering transmission shaft 21, and the servo power motor 34 works.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A steering control system for an unmanned vehicle, comprising
The active steering power mechanism is fixed on the frame;
the steering mechanism is connected with the active steering power mechanism;
and the driven steering power mechanism is connected to the steering mechanism.
2. The unmanned vehicle steering control system of claim 1, wherein the active steering power mechanism is mounted to a first bracket that is fixed to the frame.
3. The unmanned vehicle steering control system of claim 2, wherein the active steering power mechanism comprises
The driving motor is fixed on the first bracket;
and the first worm and gear speed reducing mechanism is assembled on the first bracket in a matching way with the driving motor.
4. The unmanned vehicle steering control system of claim 3, wherein the steering mechanism comprises
One end of the steering transmission shaft is connected with a crankshaft of the driving motor for outputting torque;
and the steering encoder is arranged at the other end of the steering transmission shaft.
5. The unmanned vehicle steering control system of claim 4, wherein the driven steering power mechanism is secured to the second bracket.
6. The unmanned vehicle steering control system of claim 5, wherein the driven steering power mechanism comprises
The rack and pinion steering gear is fixed on the second bracket and connected to one end of the steering transmission shaft, which is provided with the steering encoder;
the second worm gear and worm speed reducing mechanism is assembled at one end of the steering transmission shaft, which is provided with the steering encoder;
the servo power-assisted motor is connected to the second worm and gear speed reducing mechanism;
and the steering tie rod is assembled on the gear rack steering gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820335188.9U CN207955770U (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820335188.9U CN207955770U (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207955770U true CN207955770U (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820335188.9U Expired - Fee Related CN207955770U (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
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| Country | Link |
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| CN (1) | CN207955770U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108238097A (en) * | 2018-03-13 | 2018-07-03 | 苏州青飞智能科技有限公司 | A kind of automatic driving vehicle steering control system |
-
2018
- 2018-03-13 CN CN201820335188.9U patent/CN207955770U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108238097A (en) * | 2018-03-13 | 2018-07-03 | 苏州青飞智能科技有限公司 | A kind of automatic driving vehicle steering control system |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 226000 room 316, building 2, No. 109, Yongfu Road, Tangzha Town Street, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Qingyizhihang (Nantong) Technology Co.,Ltd. Address before: 215500 No. 188 Yunshen Road, Changshu High-tech Industrial Development Zone, Suzhou City, Jiangsu Province Patentee before: SUZHOU QINGFEI INTELLIGENT TECHNOLOGY Co.,Ltd. |
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| 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: 20181012 |