CN208429136U - A kind of electric wheel drive vehicle composite energy-saving servo steering device - Google Patents
A kind of electric wheel drive vehicle composite energy-saving servo steering device Download PDFInfo
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- CN208429136U CN208429136U CN201820359157.7U CN201820359157U CN208429136U CN 208429136 U CN208429136 U CN 208429136U CN 201820359157 U CN201820359157 U CN 201820359157U CN 208429136 U CN208429136 U CN 208429136U
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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
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Abstract
The utility model discloses a kind of electric wheel drive vehicle composite energy-saving servo steering devices, comprising: including steering wheel, steering shaft, steering-wheel torque sensor, steering wheel angle sensor, assist motor, turbine and worm decelerator, rack and pinion steering gear, left steering drag link, right turn drag link, the near front wheel, left wheel hub motor, off-front wheel, right hub motor, primal coordination control module, differential power-assisted steering control module, slippage rate control module and electric power steering control module.
Description
Technical field
The utility model relates to automobile technical fields, and in particular to a kind of electric wheel drive vehicle composite energy-saving power-assisted steering
Device.
Background technique
Electric Motor Wheel independent driving automobile eliminates the transmission system of orthodox car, power directly by being mounted in wheel or
The hub motor or wheel motor for taking turns side are provided to drive wheel.Electric wheel drive vehicle structure is simple, saves space, is easier to
Realize advanced vehicle dynamics integrated control.
Electric power steering (EPS) system realizes power-assisted, it can be achieved that with the adjustable power-assisted size of speed using assist motor, is existing
No matter orthodox car or electric car use widest force aid system.But electric boosting steering system also has its own to lack
Point, the i.e. rotary inertia of assist motor acceleration and deceleration device can reduce dynamic response quality when big torque power-assisted demand, and there are sluggishnesses
With the response problem of overshoot, in addition assist motor running noise can also be transmitted to the more sensitive hand of driver by steering wheel
Portion influences driving sensation and quality, therefore EPS system can still excavate its energy-efficient potentiality at present.In addition at this stage for electricity
For motor-car, energy conservation is its important research emphasis.In addition to this, electric boosting steering system then turns when steering motor fails
Reliable power-assisted can not be provided to system, for oversize vehicle, there is very big security risk.
Differential power-assisted steering (Differential Drive Assist Steering, DDAS) technology is based on Electric Motor Wheel
A kind of power steering new technology that independent driving automobile platform proposes.Differential power-assisted steering makes full use of electric wheel drive vehicle each
Wheel torque can independent control the characteristics of, realize the power-assisted to steering using the torque differences that left and right front-wheel difference torque generates.
Differential servo steering system eliminates traditional servo steering system power-assisted output block, it is only necessary to be integrated in original in the form of software
Have in vehicle drive control device, it is compact-sized, it occupies little space, reduces costs and exist with car mass differential power-assisted steering simultaneously
Turning resistance can be reduced while power-assisted, while the driving motor of two front wheels being made to work in more efficient operating point, therefore energy
It is enough to save energy consumption to a certain extent, improve electric car continual mileage.But differential power-assisted steering is as a kind of indirect power-assisted
Steering mode is in the big power torque demand of demand, such as the performance and inferior quality of pivot stud operating condition power-assisted, in addition road surface
Noise Mechanism caused by injustice also will affect the stationarity of the power-assisted square output of DDAS system, while the EPS system that compares, DDAS
Tire wear can be increased when work to a certain extent.
Patent application 2016111665807 proposes the multi-mode steering system and controlling party of a kind of electric wheel drive vehicle
The rotor of electric boosted motor is coaxially connected by method, the system with steering shaft, increases the steering inertia of steering shaft, reduces big
There is sluggish and overshoot response problem in dynamic response quality when torque power-assisted demand.Simultaneously without deceleration mechanism, make required
Assist motor volume increases, and in addition the system does not consider the problems of steering system energy consumption.
Utility model content
The utility model has designed and developed a kind of electric wheel drive vehicle composite energy-saving servo steering device, is helped by differential
Power, which turns to the combination reduction turning resistance with electric boosting steering system and optimizes the realization of motor operating point, reduces whole device
The purpose of energy consumption.
Technical solution provided by the utility model are as follows:
A kind of electric wheel drive vehicle composite energy-saving servo steering device, comprising:
Steering wheel；
Steering shaft connects the steering wheel centre, and installing angle sensor and torque sensing in the steering shaft
Device；
Deceleration mechanism, output end connect the steering shaft；
Assist motor connects the input terminal of the deceleration mechanism；
Diverter connects the steering shaft lower end, and passes through drag link respectively at the diverter both ends and connect vehicle
Wheel；
Electronic control unit, rotary angle transmitter, the torque sensor and vehicle CAN bus described in Electricity Federation；
Wherein, the electronic control unit includes primal coordination control device, motor-driven power steering control device, differential power-assisted
Steering control device and slippage rate control device；
Assist motor described in the motor-driven power steering control device Electricity Federation；
Hub motor in wheel described in slippage rate control device Electricity Federation.
Preferably, the deceleration mechanism is set as worm gear structure.
Preferably, the diverter is rack pinion diverter；
Wherein, the tooth sector of the rack pinion diverter connects the lower end of the steering shaft；And
The rack gear of the rack pinion diverter and tooth sector engaged transmission, and the rack gear connects the cross
Pull rod.
Preferably, the drag link is connected by ball stud with the knuckle of the wheel.
The utility model compared with prior art possessed by the utility model has the advantages that
1, low energy consumption；A kind of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model can lead to
It crosses front-wheel or so driving torque difference and generates power steering, power-assisted while reduces turning resistance, while making front-wheel work in electricity
Machine high efficiency point effectively reduces full-vehicle steering system and drive system to compare more simple electric power steering technology
Energy consumption；In addition more simple differential power-assisted steering technology is compared, tire wear can also be reduced as far as possible, improve steering system
Fast-response improves driver road feel；
2, high reliablity；It is wrapped in a kind of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
The electric power steering apparatus and differential servo steering device contained can be worked normally individually, when any one system is sent out
When raw failure, another force aid system can normally realize power-assisted, ensure that the reliability of vehicle；
3, safety is good；A kind of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model is in phase
The stable region of plane uses differential power-assisted steering and electric power steering to work together to realize energy conservation.Phase is in vehicle-state
When plane unstable region, differential power-assisted steering is closed at this time, and the attachment of tire is all left for the stabilitrak of vehicle,
The positive additional yaw moment that differential power-assisted steering power-assisted generates is avoided simultaneously causes vehicle unstability.
Detailed description of the invention
Fig. 1 is a kind of structure letter of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
Figure.
Fig. 2 is a kind of course of work of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
Main flow chart.
Fig. 3 is a kind of course of work of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
In energy saving steering pattern sub-process figure.
Fig. 4 is a kind of course of work of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
Ideal steering-wheel torque figure.
Fig. 5 is a kind of course of work of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
In safe steering pattern sub-process figure.
Fig. 6 is a kind of course of work of electric wheel drive vehicle composite energy-saving servo steering device described in the utility model
In fail safe steering pattern sub-process figure.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figure 1, a kind of electric wheel drive vehicle composite energy-saving servo steering device disclosed by the utility model, passes through
The combination of differential power-assisted steering and electric power steering apparatus, the co-operation of stream oriented device can by reduce turning resistance and
Optimize motor operating point and realize the purpose for reducing whole device energy consumption, while the steering for reducing electric power steering apparatus is used
Amount, improves dynamic response quality, at the same differential power-assisted steering and electric power steering can respectively as the redundancy backup of other side,
Improve the reliability of vehicle；Turn apparatus body includes steering wheel 100, steering shaft 150, steering-wheel torque sensor 200, turns
It is horizontal to disk rotary angle transmitter 250, assist motor 400, turbine and worm decelerator 300, rack and pinion steering gear 630, left steering
Pull rod 610, right turn drag link 620, the near front wheel 600, left wheel hub motor 500, off-front wheel 650, right hub motor 550, main association
Control module 710, differential power-assisted steering control module 900, slippage rate control module 950 and electric power steering is adjusted to control mould
Block 800.
100 center of steering wheel is connected to steering shaft 150, be equipped in steering shaft 150 steering wheel angle sensor 200 and
Steering-wheel torque sensor 250, while the output end of turbine and worm decelerator 300, assist motor are connected in steering shaft 150
400 output ends are connected to the input terminal of turbine and worm decelerator 300.150 lower end of steering shaft is connected to rack and pinion steering gear
The tooth sector of 630 tooth sector, rack and pinion steering gear 630 is engaged with the rack gear of rack and pinion steering gear 630, gear teeth
The rack gear left and right ends of diverter 630 respectively connected left steering drag link 610 and right turn drag link 620, and left steering is horizontal
The other end of pull rod 610 is connected to the knuckle of the near front wheel 600 by ball stud, and the other end of right turn drag link 620 passes through
Ball stud is connected to the knuckle of off-front wheel 650.Left wheel hub motor 500 is installed on the near front wheel 600, is installed on off-front wheel 650
There is right hub motor 550.
Primal coordination control module 710, differential power-assisted steering control module 900, electric power steering control module 800 and
Slippage rate control module 950 forms the control unit (ECU) 700 of composite energy-saving servo steering device herein, control unit 700
It is connected with vehicle CAN bus, the speed v in CAN bus, side slip angle β, coefficient of road adhesion μ, total demand can be read and drive
Dynamic torque Tg.The steering-wheel torque T that steering wheel angle sensor 200 and steering-wheel torque sensor 250 measure can be read simultaneouslysw
And corner δsw.The exportable control instruction of electric power steering control module 800 in control unit 700 is to assist motor simultaneously
400, the exportable control instruction of differential power-assisted steering control module 900 in control unit 700 to slippage rate control module 950,
The exportable motor control instruction of slippage rate control module 950 is to the near front wheel hub motor 500 and off-front wheel hub motor 550.
In another embodiment, the primal coordination control module 710 in control unit (ECU) 700, electric power steering control
Molding block 800, differential power-assisted steering control module 900 and slippage rate control module 950 can individually be set as entity
Controller can also be integrated in the controller of an entity, or even can be integrated in vehicle drive control device.
As shown in Fig. 2, the utility model also provides a kind of work of electric wheel drive vehicle composite energy-saving servo steering device
Make process, includes the following steps:
Step 1: System self-test；Primal coordination control module 710 reads the self-test signal of assist motor 400, if assist motor
400 failures, carry out step 5, if it is not, carrying out step 2；
Step 2: the yaw velocity ω of vehicle is obtained by yaw-rate sensorrSignal, by vehicle speed sensor or
Speed observer obtains vehicle speed signal v, obtains side slip angle β and side slip angle speed by side slip angle observer
DegreeSignal is observed in real time by coefficient of road adhesion observer and obtains coefficient of road adhesion μ；
Step 3: being tabled look-up to obtain inhibited stably parameter value B according to coefficient of road adhesion μ1、B2；
Inhibited stably parameter value B1、B2It derives fromPhase plane stable region divides, and boundary is drawn using Double-Line Method
Point, i.e., inhibited stably is divided using two parallel straight lines.I.e. describedPhase plane stable region can be by following public
Formula indicates:
Wherein, B1And B2For inhibited stably parameter, inhibited stably parameter is mainly related with coefficient of road adhesion, gives
Different coefficient of road adhesion obtains the boundary system under each attachment coefficient by the method that Computer Simulation or real vehicle are demarcated
Several values；In actual use, by B1、B2Tables of data is made to be previously stored into ECU, table look-at when use；Such as 1 institute of table
It is shown as B1、B2Parameter list.
1 B of table1、B2Parameter list
| Coefficient of road adhesion | B1 | B2 |
| 0.8≤μ≤1 | 0.283 | 0.175 |
| 0.6≤μ < 0.8 | 0.343 | 0.167 |
| 0.4≤μ < 0.6 | 0.378 | 0.152 |
| 0.3≤μ < 0.4 | 0.454 | 0.150 |
| 0.2≤μ < 0.3 | 0.624 | 0.138 |
| μ < 0.2 | 0.938 | 0.03 |
Step 4: calculatingValue, and judgeIt is whether true: if so, system into
Enter energy saving steering pattern, and jumps into step 6；If it is not, system enters safe steering pattern, and jump into step 6.
Step 5: system enters fail safe steering pattern.
Step 6: steering pattern decision is completed.
If Fig. 3 is shown, in another embodiment, the energy saving steering pattern during utility model works includes following step
It is rapid:
Step 1: reading steering-wheel torque Tsw, speed v, steering wheel angle δswAnd total driving demand torque Tg；
Step 2: according to steering wheel angle δsw, speed v table look-up to obtain differential power-assisted steering work weight coefficient value k's in real time
Initial value kc；
In another embodiment, initial value kcOptimize to obtain by off-line simulation, it is whole using Simulink and Carsim etc.
Simulation calculation vehicle travels respectively in vehicle dynamics simulation software is determining speed, is determining steering wheel angle operating condition, turns to differential power-assisted
To work weight coefficient kcCarry out global optimizing；In the present embodiment, kcSearch Range be 0≤kc≤ 1, the mesh of offline optimization
Scalar functions are as follows:
In formula, T1For the motor output torque of the near front wheel；n1For the output revolving speed of the near front wheel；T2It is defeated for the motor of off-front wheel
Torque out；n2For the output revolving speed of off-front wheel；a1、a2、a3Respectively weight coefficient；TtFor the output torque of assist motor；ntFor
The output revolving speed of assist motor；a1、a2、a3Respectively weight coefficient；λ1, λ2, λtRespectively left front turbin generator, off-front wheel motor with
And the efficiency of assist motor.
Target function value J is smaller, then illustrates that energy-saving effect is better, and the purpose for the initial value that offline optimization obtains is under
The online optimizing of one step provides optimizing initial value, can significantly improve the speed of online optimizing in this way, has significant engineering significance,
Data are made in the differential power-assisted steering work weight coefficient k of the offline optimization of each speed and the operating condition for determining steering wheel angle
Table is stored in ECU, and when use calls directly；As shown in table 2, when actual steering disk corner and speed occurrence do not exist
In table, using the method value of interpolation.
2 k of tablecValue table
Step 3: the initial value k based on the differential power-assisted steering work weight coefficient value k to table look-upc, sought online
It is excellent, kcFor optimizing starting point, real-time online optimizing obtains the work weight coefficient of differential power-assisted steering；
The purpose of online optimizing be calculated online current instantaneous moment by optimizing algorithm make steering system power most
The differential power-assisted steering work weight coefficient value of hour, by differential power-assisted steering work weight coefficient value k obtained in the previous stepcIt does
For the starting point of optimization algorithm optimizing, it is greatly improved the speed of optimizing, meets the requirement of realtime control.
The objective function of online optimizing is as follows:
In formula, TgIt is main coordinating control module according to speed and the calculated total driving moment of target vehicle speed difference, TzFor difference
The differential torque of front-wheel needed for the power-assisted that dynamic power-assisted steering control module institute's decision goes out, b1, b2, btRespectively corresponding optimization power
Weight coefficient.Target function value is smaller, illustrates that effect is better.The constraint equation of optimized variable k is as follows: c1kc≤k≤c2kc；In formula,
c1And c2Respectively optimize border coefficient, optimize border coefficient specific value need to according to the wheel hub of assist motor and front-wheel or
The power and torque characteristics of wheel motor determine, need to carry out train experiment and specifically be demarcated；In the present embodiment, c1Generally may be used
Value is 0.8, c2Generally can value be 1.2.
In another embodiment, optimization algorithm of the sequence least square method as on-line optimization is selected.
It is worth noting that the torque optimizing distribution method that the utility model is chosen is Sequential Quadratic Programming method, but this reality
With the novel torque optimizing distribution method method without being limited thereto, other optimization methods can also be selected on demand, this is not
Constitute the limitation to claims described in the utility model.
Step 4: differential power-assisted steering control module exports the differential torque T of the required front-wheel of power-assistedz；Electric power steering
Control voltage signal needed for control module exports assist motor 400；
In another embodiment, differential power-assisted steering control module uses steering-wheel torque Direct control strategy；The control
System strategy measures actual steering-wheel torque T specifically by steering-wheel torque sensor 200sw, meanwhile, it obtains in CAN bus
Speed v and steering wheel angle δswSignal, the interior ideal steering-wheel torque MAP chart stored of Read Controller obtain reason at this time
Think steering-wheel torque Tswd, according to actual steering-wheel torque TswWith ideal steering-wheel torque TswdDifference left and right vehicle is calculated
Torque differences are taken turns so that the ideal steering-wheel torque of actual steering disk torque tracking, achievees the purpose that reduce turning to hand-power.
As shown in figure 4, ideal steering-wheel torque MAP is according to numerous companies before and research institution by obtained by many experiments
Conclusion combination speed and steering wheel angle determine drivers preference hand-wheel torque, which manages
Think steering-wheel torque Tswd, ideal steering-wheel torque MAP data are stored into ECU in advance, table look-at when use.
In another embodiment, differential booster steering controller is chosen for PID controller, and controller input turns to be practical
To disk torque TswWith ideal steering-wheel torque TswdDifference, export as the differential torque T of front-wheel needed for power-assistedz；What is exported is differential
Torque TzIt is calculated by following formula:
In formula, e (t)=Tsw-Tswd, kp、ki、kdFor PID controller control parameter.
In another embodiment, a kind of electric wheel drive vehicle composite energy-saving power-assisted steering dress described in the utility model
The differential booster steering controller set is not limited only to such PID controller, can also select the other kinds of controller of design on demand,
This does not constitute the limitation to the claims of the utility model.
In another embodiment, electric booster steering controller equally uses steering wheel Strategy of Direct Torque Control；It should
Control strategy measures actual steering-wheel torque T specifically by steering-wheel torque sensorsw, meanwhile, it obtains in CAN bus
Speed v and steering wheel angle δswSignal reads ideal steering-wheel torque MAP chart and obtains ideal steering-wheel torque T at this timeswd,
400 voltage signal of assist motor is exported so that actual steering disk torque real-time tracking ideal steering-wheel torque by controller；?
In the present embodiment, the ideal steering-wheel torque of ideal steering-wheel torque MAP chart and the use of differential booster steering controller herein
MAP chart is consistent.
In another embodiment, electric booster steering controller equally uses fuzzy controller；Fuzzy is by PID
Controller and fuzzy controller composition, fuzzy controller correct three parameter K of PID controller in real timep、Ki、Kd；Fuzzy control
The input of device is actual steering disk torque TswWith ideal steering-wheel torque TswdDifference e and difference change rate de/dt, export and be
Kp、Ki、KdCorrection value, and correction value is input to PID controller；The domain of difference e is { -5,5 }, and fuzzy set is { negative big
(NB), in bearing (NM), bear small (NS), zero (ZO) is just small (PS), hits exactly (PM), honest (PB), difference change rate de/dt's
Domain is { -10,10 }, fuzzy set be negative big (NB), and bear in (NM), bear small (NS), zero (ZO) is just small (PS), hit exactly (PM),
Honest (PB) }.The control parameter K of outputp、Ki、KdDomain be all { 0,3 }, fuzzy set be all zero (ZO), it is just small (PS), just
In (PM), it is honest (PB) }；Fuzzy control rule is shown in Table 3.
3 fuzzy controller fuzzy control rule table of table
The input of fuzzy controller is actual steering disk torque TswWith ideal steering-wheel torque TswdDifference, export and be
The control voltage of the control voltage signal of assist motor 400, output is calculated by following formula:
In formula, e (t)=Tsw-Tswd, Kp、Ki、KdValue exported in real time by fuzzy controller.
Step 5: according to the work weight coefficient k for the differential power-assisted steering that online optimizing obtains, that is, determining and export and is final
Export the differential torque Δ T of front-wheel power-assisted demandz, by total driving moment Tg, sideway needed for the output of differential booster steering controller
Torque distribution gives two front-wheels.
Reality output to torque distribution controller power-assisted the differential torque Δ T of front-wheelzAbove-mentioned obtained difference need to be combined
Dynamic power-assisted steering work weight coefficient k, i.e. Δ TzIt is calculated by following formula:
ΔTz=kTz；
By total driving moment Tg, yaw moment needed for the output of differential booster steering controller distribute to two front-wheels；
Shown in following formula:
In formula, TiIt (i=1,2) is respectively the near front wheel, off-front wheel output torque.
Step 6: the demand torque of distribute 2 wheels is carried out by each wheel slip rate control module 950 respectively
Amendment, by the wheel demand torque T after the amendment of each wheelsi(i=1,2) control instruction is sent to the wheel hub in each wheel
The controller of motor.
In another embodiment, specific modification method is as follows: vehicle-related condition parameter is obtained based on measurement or estimation,
The slippage rate of each wheel is calculated in real time, while the best slippage rate of the wheel that when real-time estimation is each inscribes, the two make the difference
Pid control algorithm is inputted, when the practical slippage rate of wheel is greater than optimum wheel slippage rate under the moment, slippage rate control module
950 start to work, and pid control algorithm calculates output slippage rate control amendment torque Txi(i=1,2), amendment torque is directly and just
Beginning wheel demand torque TiSuperimposed, that is, after correcting wheel demand torque Tsi(i=1,2) calculation formula is as follows: Tsi=Ti+
Txi；In the present embodiment, the best slippage rate control of slippage rate control method selection described in the utility model, but this is practical new
Control method for coordinating described in type is not limited only to that other slippage rate controls can also be selected on demand using such slippage rate control method
Method processed, this does not constitute the limitation to claims described in the utility model.
Step 7: assist motor 400 exports the diverted drive system mechanism of assist torque and acts on to steering wheel 100.
As shown in figure 5, in another embodiment, safe steering pattern includes the following steps:
Step 1: reading steering-wheel torque Tsw, speed v, steering wheel angle δswSignal；
Step 2: with according to steering wheel angle δsw, speed v tables look-up and reads ideal steering-wheel torque Tswd；
Step 3: by steering-wheel torque TswWith ideal steering-wheel torque TswdDifference input electric power steering control mould
Block；
Step 4: electric power steering control module calculates the control electricity of assist motor 400 using Fuzzy PID
Signal is pressed, and voltage signal is delivered to assist motor；
Step 5: assist motor 400 exports assist torque；
As shown in fig. 6, in another embodiment, fail safe steering pattern includes the following steps:
Step 1: reading steering-wheel torque Tsw, speed v, steering wheel angle δswAnd total driving demand torque TgSignal；
Step 2: with according to steering wheel angle δsw, speed v tables look-up and reads ideal steering-wheel torque Tswd；
Step 3: by steering-wheel torque TswWith ideal steering-wheel torque TswdDifference input differential power-assisted steering and control mould
Block；
Differential power-assisted steering control module described in this step uses pid control algorithm, specific with steering energy-saving mode institute
The differential power-assisted steering control module pid control algorithm stated, is not repeating here.
Step 4: differential power-assisted steering control module calculates the differential moment values T of the front-wheel of demandz, and pass through following formula
Calculate the moment values of left and right front-wheel demand；
Step 5: the slippage rate that the demand moment values of calculated the near front wheel and off-front wheel input each wheel respectively is controlled
Module 950 is modified；
Step 6: the demand moment values of revised the near front wheel 600 and off-front wheel 650 are exported to the wheel hub electricity of the near front wheel
The electric machine controller of the hub motor 550 of machine 500 and off-front wheel.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (4)
1. a kind of electric wheel drive vehicle composite energy-saving servo steering device characterized by comprising
Steering wheel；
Steering shaft connects the steering wheel centre, and installing angle sensor and torque sensor in the steering shaft；
Deceleration mechanism, output end connect the steering shaft；
Assist motor connects the input terminal of the deceleration mechanism；
Diverter connects the steering shaft lower end, and passes through drag link respectively at the diverter both ends and connect wheel；
Electronic control unit, rotary angle transmitter, the torque sensor and vehicle CAN bus described in Electricity Federation；
Wherein, the electronic control unit includes primal coordination control device, motor-driven power steering control device, differential power-assisted steering
Control device and slippage rate control device；
Assist motor described in the motor-driven power steering control device Electricity Federation；
Hub motor in wheel described in slippage rate control device Electricity Federation.
2. electric wheel drive vehicle composite energy-saving servo steering device as described in claim 1, which is characterized in that the deceleration
Mechanism is set as worm gear structure.
3. electric wheel drive vehicle composite energy-saving servo steering device as claimed in claim 1 or 2, which is characterized in that described
Diverter is rack pinion diverter；
Wherein, the tooth sector of the rack pinion diverter connects the lower end of the steering shaft；And
The rack gear of the rack pinion diverter and tooth sector engaged transmission, and the rack gear connects the horizontal drawing
Bar.
4. electric wheel drive vehicle composite energy-saving servo steering device as claimed in claim 3, which is characterized in that the horizontal drawing
Bar is connected by ball stud with the knuckle of the wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820359157.7U CN208429136U (en) | 2018-03-16 | 2018-03-16 | A kind of electric wheel drive vehicle composite energy-saving servo steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820359157.7U CN208429136U (en) | 2018-03-16 | 2018-03-16 | A kind of electric wheel drive vehicle composite energy-saving servo steering device |
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| Publication Number | Publication Date |
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| CN208429136U true CN208429136U (en) | 2019-01-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275200A (en) * | 2018-03-16 | 2018-07-13 | 吉林大学 | A kind of electric wheel drive vehicle composite energy-saving servo steering device and its control method |
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2018
- 2018-03-16 CN CN201820359157.7U patent/CN208429136U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275200A (en) * | 2018-03-16 | 2018-07-13 | 吉林大学 | A kind of electric wheel drive vehicle composite energy-saving servo steering device and its control method |
| CN108275200B (en) * | 2018-03-16 | 2023-08-01 | 吉林大学 | Composite energy-saving power-assisted steering device of electric wheel driven automobile and control method thereof |
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