CN208774866U - A kind of four wheels of electric automobile line traffic control independent steering framework - Google Patents
A kind of four wheels of electric automobile line traffic control independent steering framework Download PDFInfo
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- CN208774866U CN208774866U CN201820783018.7U CN201820783018U CN208774866U CN 208774866 U CN208774866 U CN 208774866U CN 201820783018 U CN201820783018 U CN 201820783018U CN 208774866 U CN208774866 U CN 208774866U
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- steering
- wheel
- steering wheel
- road feel
- spline
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Abstract
The utility model discloses a kind of four wheels of electric automobile line traffic control independent steering frameworks, including sequentially connected steering disc assembly, ECU unit and steering execute assembly three parts composition, with CAN bus protocol realization vehicle network communication, turning to disc assembly includes steering wheel, spline is equipped in the wheel hub of steering wheel, wheel hub is embedded in by the spline of spline and steering shaft one end same size and is fixed, steering wheel rotation synchronous drive steering axes equal angular, steering wheel angle sensor is fixed in steering shaft, steering wheel angle sensor is fixed in steering shaft by adapter, steering shaft bottom is additionally provided with road feel motor, road feel motor rotates and then drives steering axes that road feel torque is passed to steering wheel, steering wheel angle sensor and road feel motor are connect with ECU unit, the utility model solves existing in the prior art Executing agency's mechanical couplings are turned in steering-by-wire between wheel and do not have the poor problem of independent steering function, deflecting roller dynamic response capability.
Description
Technical field
The utility model belongs to New-energy electric vehicle steering technique field, and in particular to a kind of four wheels of electric automobile line traffic control
Independent steering framework.
Background technique
Electric car has many advantages, such as that zero-emission, energy transfer efficiency are high, key technology is continuous using electricity as power source
It breaks through, is just challenging the market position of traditional combustion engine automobile.Distribution driving and independent steering-by-wire make vehicle chassis empty
Between utilization efficiency and transmission efficiency be improved, provide broader sky for the motorized of automobile, intelligence, lightweight development
Between.
Steering-by-wire eliminates conventional steering system complex mechanical structure, and each section is connected by signal transmssion line, by turning
To disc assembly, turn to execution assembly and central controller (Electronic Control Unit, ECU) three major parts etc.
Composition.At present for steering-by-wire framework mostly use separate unit steering motor by gear, rack gear control coaxially connected wheel into
Row steering, this design structure is relatively simple and deflecting roller works asynchronously, but relies on machine driving between taking turns, and execution speed is slower, nothing
Method realizes wide-angle independent steering and does not meet steering-by-wire development trend.Or it directly will turn to execution assembly and be integrated in each steering
, it can be achieved that independent steering, enhances driving maneuver, but considerably increase automobile unsprung mass in wheel, dynamic response capability is deteriorated,
It is unfavorable for intact stability traveling.
Steering-by-wire has been completely free of the various restrictions of conventional steering system, and various control strategy and optimization algorithm can be used, make
Corner input instruction is more rationally accurate, promotes electric car and manipulates stability, optimizes driver road feel, make driving procedure human nature
Change, is intelligent.Angle gearratio control is one of steering-by-wire maximum feature, can promote low speed and turn to mobility and high speed
It is lighter sensitive to realize that low speed turns to for control stability when steering, and the more steady safety of high speed steering prevents ovdersteering.Point
Cloth drives electric car front wheel angle to use angle gearratio control, and control method includes: 1. parameter fitting method, to sailing shape
State parameter fitting establishes the nonlinear function of car status information and angular gear ratio.2. being with vehicle running state parameter
Control variable intelligent control method, such as fuzzy control, ANN Control.Compared to first method, such method is without building
Very accurate model is found, robustness and dynamic response characteristic are more preferable.But control is complicated.3. being passed based on the constant determining angle of steering gain
Dynamic ratio, the influence the method reduce Vehicle Nonlinear characteristic to driver improve manoeuvereability of automobile and comfort, design compared with
It is simple and practical.Common method has: constant based on yaw velocity gain, constant based on side acceleration gain.Determine yaw angle
The angular gear ratio that speed gain determines can have downward trend in high speed, and being unsatisfactory for the steering wheel sensitivity in high speed should suitably drop
Low design requirement.Determining the angular gear ratio that side acceleration gain determines can increase always and trend is very fast, Bu Nengda with speed
To stable state.It is a kind of stable state control strategy based on the constant determining angle transmission ratio of steering gain.But vehicle is in actual row
Operating condition is complicated during sailing and road conditions, vehicle condition influence, so that can not be same between the corner and vehicle driving state of steering wheel
Step.Active steering control according to vehicle real-time status, it is ensured that control stability, actively to steering wheel angle input signal increase or
Reduce, carry out dynamic calibration, is the important means for improving " people-vehicle-road " closed-loop system active safety.Common method at present
It is fed back using single car state parameter, deficiency is described to vehicle running state, and in the design of active steering controller
Aspect all avoids traditional PID control, using the modern intelligent control such as Adaptive PID Control, fuzzy PI hybrid control, sliding formwork control.Control
Device design processed is sufficiently complex, and does not meet the safe and reliable design standard of vehicle travel process.
Utility model content
The purpose of the utility model is to provide a kind of four wheels of electric automobile line traffic control independent steering frameworks, solve the prior art
Present in executing agency's mechanical couplings turned in steering-by-wire between wheel do not have independent steering function, deflecting roller dynamic response
The poor problem of ability.
The utility model the technical scheme adopted is that a kind of four wheels of electric automobile line traffic control independent steering framework, including according to
Steering disc assembly, ECU unit and the steering of secondary connection execute assembly three parts composition.
The utility model is also characterized by
Turn to disc assembly specific structure are as follows: including steering wheel, be equipped with spline in the wheel hub of steering wheel, wheel hub by spline with
The spline of steering shaft one end same size, which is embedded in, to be fixed, steering wheel rotation synchronous drive steering axes equal angular, steering shaft
On be fixed with steering wheel angle sensor, steering wheel angle sensor is fixed in steering shaft by adapter, steering shaft bottom
It is additionally provided with road feel motor, road feel motor rotates and then drives steering axes that road feel torque is passed to steering wheel, steering wheel
Rotary angle transmitter and road feel motor are connect with ECU unit.
Turning to and executing assembly includes the identical high performance servo control unit of four groups of structures, and every group of high performance servo control is single
The internal structure of member specifically: including the servo controller connecting with ECU unit, servo controller receives ECU unit hair in real time
The corner command signal come simultaneously controls corresponding steerings servo motor and is rotated, steering servo motor and speed reducer one phase
Even, speed reducer is connected fixation with tooth sector, and tooth sector is engaged with rack, and rack gear is embedded in two slide units, slide unit
On the sliding rail that automobile chassis is more nearby arranged away from wheel, rack gear is connected through ball stud A with cross-tie, cross-tie it is another
One end is connect by ball stud B with the knuckle arm being fixed at column knuckle, receives instruction progress when turning to servo motor
Transverse shifting and then promotion cross-tie drive column generation angle change to band carry-over bar on the slide rail when rotation, complete wheel and turn
To.
ECU unit is central controller main control chip DSP-TMS320F28335.
The utility model has the beneficial effects that a kind of four wheels of electric automobile line traffic control independent steering framework, has independent big angle
Turning function is spent, achievable 180 ° of pivot studs and translational motion etc., deflecting roller dynamic response capability gets a promotion.And it can pass through
Road feel motor makes driver obtain apparent road feel, enhances driving comfort.Angle gearratio control is based on ideal two degrees of freedom
Vehicular turn kinetic model, joint determine yaw velocity gain and determine side acceleration gain, devise different vehicle-speed regions
Interior optimal weights coefficient, it is determined that full speed range steering system ideal angular gear ratio realizes low speed and turns to opportunity dynamic property and height
Control stability when speed turns to.Active steering controls comprehensive driving process vehicle status parameters yaw velocity and side slip angle
It is fed back, active steering controller actively corrects steering wheel angle signal dynamics according to vehicle condition, realizes driving procedure human nature
Change, is intelligent, further improving wheel steering system robustness.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of four wheels of electric automobile line traffic control independent steering framework of the utility model.
In figure, 1. steering wheels, 2. wheel hubs, 3. steering shafts, 4. adapters, 5. steering wheel angle sensors, 6. road feel motors,
7.ECU unit, 8. servo controllers, 9. turn to servo motor, 10. speed reducers, 11. tooth sectors, 12. sliding rails, 13. sliding block lists
Member, 14. rack gears, 15. ball stud A, 16. cross-ties, 17. ball stud B, 18. knuckle arms, 19. columns.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of four wheels of electric automobile line traffic control independent steering framework of the utility model, structure is as shown in Figure 1, include being sequentially connected
Steering disc assembly, ECU unit and turn to execute assembly three parts composition, wherein turn to disc assembly specific structure are as follows: including turn
To disk 1, spline is equipped in the wheel hub 2 of steering wheel 1, wheel hub 2 is solid by the insertion of the spline of spline and 3 one end same size of steering shaft
Fixed, steering wheel 1 rotates synchronous drive steering shaft 3 and rotates equal angular, is fixed with steering wheel angle sensor 5 in steering shaft 3, turns
It is fixed in steering shaft 3 to disk rotary angle transmitter 5 by adapter 4,3 bottom of steering shaft is additionally provided with road feel motor 6, road feel electricity
Machine 6 rotates and then drives the rotation of steering shaft 3 that road feel torque is passed to steering wheel 1, steering wheel angle sensor 5 and road feel motor
6 connect with ECU unit 7.
Turning to and executing assembly includes the identical high performance servo control unit of four groups of structures, and every group of high performance servo control is single
The internal structure of member specifically: including the servo controller 8 connecting with the ECU unit 7, servo controller 8 receives ECU in real time
Corner command signal that unit 7 is sent simultaneously controls corresponding steering servo motor 9 and is rotated, and turns to servo motor 9 and slows down
Machine 10 is integrally connected, and speed reducer 10 is connected fixation with tooth sector 11, and tooth sector 11 is engaged with rack gear 14, the insertion of rack gear 14 two
A slide unit 13, slide unit 13 are located on the sliding rail 12 that automobile chassis is more nearby arranged away from wheel, and rack gear 14 is through ball stud
A15 is connected with cross-tie 16, and the other end of cross-tie 16 passes through ball stud B17 and turn being fixed at 19 knuckle of column
To joint arm 18 connect, when turn to servo motor 9 receive instruction rotated when band carry-over bar 14 on sliding rail 12 transverse shifting into
And cross-tie 16 is pushed to drive column 19 that angle change occurs, complete wheel steering.
ECU unit 7 is responsible for receiving and handles steering wheel angle signal, and is sent to each steering servo controller 8 in real time, this
Utility model requires controller high-performance, low-power consumption, and has powerful external communication interface, so choosing central controller master control
Chip is the ECU unit 7 of DSP-TMS320F28335, and designs controller local area network (Controller Area
Network, CAN) bus protocol, it realizes ECU unit 7 and servo controller 8, turn to servo motor 9, steering wheel angle sensor
5 equal network communications, meet whole vehicle information real-time, interactive.
A kind of distributed-driving electric automobile wire-controlled steering system of the utility model, working principle are as follows:
Driver, which needs to control wheel by steering wheel 1, to be turned to, when 1 angle of steering wheel changes, 3 meeting of steering shaft
It is driven by the spline in insertion wheel hub 2, and then rotates identical angle, rotary angle transmitter 5 can detect 3 angle of rotation of steering shaft
Degree, and angular signal is passed through into CAN communication real-time delivery to ECU unit 7.ECU unit 7 will receive steering wheel angle signal,
Wheel steering angle distribution is carried out using control algolithm, and by each wheel should rotational angle corresponding turn to be sent to by CAN communication watch
Controller 8 is taken, the control of servo controller 8 turns to servo motor 9 and rotates respective angles.ECU unit 7 also receives vehicle in real time simultaneously
Driving status parameter, and the optimal road feel torque of driver is calculated, control road feel motor 6 exports corresponding force square, this moment loading
In steering shaft 3, and steering wheel 1 is passed to, driver obtains reasonable road feel by steering wheel 1, promotes driver comfort.
When turning to the rotation of servo motor 9, wheel steering torque can be pushed in order to export, servo motor 9 is turned to and is equipped with
Speed reducer 10.Tooth sector 11 is engaged with rack gear 14, and rack gear 14 is embedded in two slide units 13, and the rotation of tooth sector 11 can push
Rack gear 14 moves left and right, and due to the presence of slide unit 13, rack gear 14 is more flexible in the movement of 12 direction of sliding rail.Rack gear 14 or so moves
When dynamic, cross-tie 16 can be driven by ball stud A15, ball stud A15 increases the freedom of motion of cross-tie 16, transports
It is dynamic flexible.The other end of cross-tie 16 is connect by ball stud B17 with knuckle arm 18 on the knuckle for being fixed on column 19,
Cross-tie 16 can push column 19, and when 19 orientation of column changes, column 19 will drive wheel steering, column rotation
Angle is also vehicle wheel rotation angle.When rack gear 14 moves right, cross-tie 16 drags column 19 and turns right, and wheel is also right
Turn.When rack gear 14 is moved to the left, cross-tie 16 pushes column 19 to turn left, and wheel is also responsive to left-hand rotation.It is turned to by control
Servo motor 9, i.e., controllable wheel carry out wide-angle independent steering, and automobile unsprung mass has no increase, dynamic response capability compared with
It is good.
A kind of four wheels of electric automobile line traffic control independent steering framework of the utility model, has independent wide-angle turning function, can
The various workings such as 180 ° of pivot studs and translational motion are completed, vehicle driving mobility and deflecting roller dynamic response capability are mentioned
It rises, improves city space utilization rate.And the clear road feel of driver is supplied to by road feel motor, enhance driving comfort.
Claims (2)
1. a kind of four wheels of electric automobile line traffic control independent steering framework, which is characterized in that including sequentially connected steering disc assembly,
ECU unit and steering execute assembly three parts composition；
The steering disc assembly specific structure are as follows: including steering wheel (1), be equipped with spline, wheel hub in the wheel hub (2) of steering wheel (1)
(2) it is embedded in and is fixed by the spline of spline and steering shaft (3) one end same size, steering wheel (1) rotates synchronous drive steering shaft
(3) equal angular is rotated, is fixed with steering wheel angle sensor (5) in steering shaft (3), steering wheel angle sensor (5) passes through
Adapter (4) is fixed on steering shaft (3), and steering shaft (3) bottom is additionally provided with road feel motor (6), road feel motor (6) rotate into
And drive steering shaft (3) rotation that road feel torque is passed to steering wheel (1), steering wheel angle sensor (5) and road feel motor (6)
It is connect with the ECU unit (7)；
It includes the identical high performance servo control unit of four groups of structures that the steering, which executes assembly, and every group of high performance servo control is single
The internal structure of member specifically: including the servo controller (8) connecting with the ECU unit (7), servo controller (8) is real-time
Receive the corner command signal that ECU unit (7) is sent and control corresponding steering servo motor (9) to be rotated, turns to servo
Motor (9) and speed reducer (10) are integrally connected, and speed reducer (10) is connected fixation, tooth sector (11) and tooth with tooth sector (11)
Item (14) engagement, rack gear (14) are embedded in slide unit (13), and slide unit (13) is located at automobile chassis and is more nearby arranged away from wheel
Sliding rail (12) on, rack gear (14) is connected through ball stud A (15) with cross-tie (16), and the other end of cross-tie (16) passes through
Ball stud B (17) is connect with the knuckle arm (18) being fixed at column (19) knuckle, receives to refer to when turning to servo motor (9)
Band carry-over bar (14) transverse shifting on sliding rail (12) pushes cross-tie (16) to drive column (19) in turn when order is rotated
Angle change occurs, completes wheel steering.
2. a kind of four wheels of electric automobile line traffic control independent steering framework according to claim 1, which is characterized in that the ECU
Unit (7) main control chip is DSP-TMS320F28335.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820783018.7U CN208774866U (en) | 2018-05-24 | 2018-05-24 | A kind of four wheels of electric automobile line traffic control independent steering framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820783018.7U CN208774866U (en) | 2018-05-24 | 2018-05-24 | A kind of four wheels of electric automobile line traffic control independent steering framework |
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| Publication Number | Publication Date |
|---|---|
| CN208774866U true CN208774866U (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820783018.7U Expired - Fee Related CN208774866U (en) | 2018-05-24 | 2018-05-24 | A kind of four wheels of electric automobile line traffic control independent steering framework |
Country Status (1)
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| CN (1) | CN208774866U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834409A (en) * | 2022-04-15 | 2022-08-02 | 湘潭大学 | Braking device based on displacement detection and control method |
-
2018
- 2018-05-24 CN CN201820783018.7U patent/CN208774866U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114834409A (en) * | 2022-04-15 | 2022-08-02 | 湘潭大学 | Braking device based on displacement detection and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190423 Termination date: 20210524 |