CN209395868U - Multiwheel vehicle equipped with simplified unilateral cosine compensation front wheel steering model controller - Google Patents

Abstract

A kind of multiwheel vehicle equipped with simplified unilateral cosine compensation front wheel steering model controller respectively installs a wheel in the front part sides of vehicle body frames, and a coaxial wheel is respectively installed in rear portion middle part or two sides, and the wheel at rear portion is not involved in steering；The wheel of two fronts respectively passes through a jack shaft and connect with the vehicle body frames, and the principal direction disk of vehicle body frames front center is sequentially connected by front wheel steering model controller and the jack shaft of two sides；The power device output end at the middle part of vehicle body frames is sequentially connected by center differential or transfer gear and front axle differential and rear axle differential.Advantage is: simple and practical reliable, it is turned to suitable for substitution conventional keystone, complete the impossible task of Ackermann steering gear, steering angle is not limited by steering mechanism itself, only limited by suspension, 40 degree of limiting angles of Ackermann steering gear are broken through, and allow to install the electromechanical integration technology that mechanical transmission mechanism participates in controlling electronic-controlled differential, improve the cross-country passage capacity of vehicle.

Description

Multiwheel vehicle equipped with simplified unilateral cosine compensation front wheel steering model controller

Technical field

The utility model relates to a kind of multiwheel vehicles (three equipped with simplified unilateral cosine compensation front wheel steering model controller Wheel or four-wheel), belong to Purely mechanical and be driven operating-controlling mechanism, belongs to land with non-track multi-wheeled vehicle wheel steering and manipulate technical field, point Category code is B62D5.

Background technique

Currently, both at home and abroad in multi-wheeled vehicle steering technique, side is rotated to based on being compensated with trapezoidal transmission, rear-axle steering In, it is common to there is trapezoidal transmission to compensate, also there is microcomputer digital control power-assisted steering；But the approximate steering technique of Ackermann steering gear category, trapezoidal turn To mathematical analysis in turn to effect curve only near 3 degree and 35 degree of angles with ideal relationship straight line cross-coincidence, when greater than 43 It spends after angle, deviation increases, and causes to break away and steering wheel shakes clickly abnormal sound；Domestic novel 8*8 offroad vehicle, unexpectedly to simplify version Crawler belt differential steering technology " glide steering " is honor, and " Aug. 1st section " military review is stepped in also honor." mould control or remote-control hydraulic transmission are same for manufacture Walk omnipotent steering+full-time electronic differential offroad vehicle ", innovation surmounts, imperative.

In terms of steering technique, application for a patent for invention (application number that the same inventor of the application has applied 201410170960.2), (application number 201711406387.0) and utility model patent (patent No. 201520206467.1), (patent No. 2017201709604.8), (application number 201821136752.0), across from mechanism driving, hydraulic drive, to simulation Vector current potential drive-by-wire, to arrive photoelectricity grid numerical control variance drive again servo-assisted, then matches with the vector electronic-controlled differential that links It closes, composition vector manipulates complete set technology.All on Special attention will be given to multi-wheeled vehicle, final target vehicle is positioned at for above-mentioned patent application On more wheel multiaxle trucks, the disadvantage is that structure is complicated, it is at high cost.Ackermann steering gear is most characterized in machine driving in value, simply may be used It leans on.So, omnipotent steering technique must also be drawn close to this technique direction as far as possible.For this purpose, rear-wheel is not since most simplified version It turns to or timesharing turns to；Axis cosine truss is not servo-actuated, or directly saves truss；Axis pendulum thick stick manipulation is also directly saved, Directly manipulate vertical swing rod；Cosine compensation in two sides is reduced to left side and merges with axis, only compensates right unilateral cosine；It realizes The more applicable mechanical transmission vertical frame power-assisted of installation space, more securely and reliably, the nimble steering of wide-angle and energy-saving ring It protects.

Summary of the invention

The purpose of this utility model is just to provide a kind of vehicle front wheel steering model control of the unilateral cosine compensation of simplification Device is that the omnipotent steering mechanical formula operating-controlling mechanism of multi-wheeled vehicle is not involved in the most simplified version turned under precondition in rear-wheel, with solution Certainly of the existing technology structure is complicated, problem at high cost.

The technical solution of the utility model is: a kind of to compensate front wheel steering model controller equipped with simplified unilateral cosine Multiwheel vehicle, including vehicle body frames and wheel, which is characterized in that one vehicle is respectively installed in the front part sides of the vehicle body frames A coaxial wheel is respectively installed in wheel, rear portion middle part or two sides, and the wheel at rear portion is not involved in steering；The wheel of two fronts is each logical It crosses a jack shaft to connect with the vehicle body frames, principal direction disk is housed in vehicle body frames front center, principal direction disk is logical The input axis connection for crossing gearing shaft Yu front wheel steering model controller, using gearing shaft or crankshaft double link or pendulum One of three kinds of connection types of arm single connecting rod, the input shaft and the near front wheel of front wheel steering model controller turn to axis connection, input shaft Axis connection is turned to off-front wheel；Power device is housed at the middle part of vehicle body frames, output end passes through center differential or transfer Device and the front axle differential being mounted between two jack shafts and the rear axle differential being mounted on rear body axis transmission connect It connects.

The utility model has the advantages that: it is simple and practical reliable, belong to the most simplification mechanical transmission mechanism in omnipotent steering, It is turned to suitable for substitution conventional keystone, completes the impossible task of Ackermann steering gear, steering angle is not limited by steering mechanism itself System is only limited by suspension, and 40 degree of limiting angles of Ackermann steering gear are broken through, and is allowed to install mechanical transmission mechanism and participated in control electronics tune The electromechanical integration technology of differential is controlled, the cross-country passage capacity of vehicle is improved.

Detailed description of the invention

Fig. 1 is overall structure diagram (the unilateral side compensation sliding slot SW or elliptical orbit cam cunning of the utility model embodiment Slot 200, double crankshaft connecting rod 108, vector linkage regulation electronic differential jack shaft plan view)；

Fig. 2 is that (the near front wheel, off-front wheel illustrate gearing shaft, crankshaft double link respectively for the partial enlarged view of the front axle of Fig. 1 Two kinds of steering transmission connecting structures)；

Fig. 3 is the 3D schematic diagram of unilateral compensation sliding slot (SW) version steering model controller in Fig. 1；

Fig. 4 is the 3D diagram that swing rod sliding slot (107) version steering model controller is reversed in cosine compensation in the utility model unilateral side；

Fig. 5 is the 3D diagram that gear (101) version steering model controller is reversed in cosine compensation in the utility model unilateral side；

Fig. 6 is the 3D design drawing that the utility model reverses gear (101)；

Fig. 7 is the 3D diagram of the utility model unilateral side cosine compensation elliptical orbit cam (200) version steering model controller；

Fig. 8 is the utility model wheel steering shaft, jack shaft and suspension assembly relation schematic diagram.

Specific embodiment

Referring to Fig. 1-Fig. 8, a kind of vehicle front wheel steering model controller of the unilateral cosine compensation of simplification of the utility model, It is characterized by: front-wheel installation left and right wheel 18 each one, rear-wheel is not involved in steering, and permission rear-wheel is in vehicle body frames 15 One is fallen three-wheel or coaxial left-right each one or be each two wheels of adjacent two rows axis or so；Front-wheel mechanical transmission is big Angle turns to and front-wheel drive is common state, and steering model controller is installed on front wheel axle middle position, and by left side Wheel column merge with axis column, i.e., principal direction disk 2 is directly connected to control the near front wheel, only carry out unilateral cosine compensation to off-front wheel, Simplify left side cosine compensation operating-controlling mechanism；Front wheel steering model controller P10 input shaft 202, directly connects through gearing shaft 53 Meet 2 steering column of principal direction disk and the near front wheel entity steering shaft 10, Synchronous Transmission steering angle α；Model controller P10 output shaft 109 use double-crankshaft with the semi-circle gear disk 54 or output shaft 109 of the connection off-front wheel entity steering shaft 10 of gearing shaft 53 Connecting rod 108 connects the double-crankshaft swing arm of off-front wheel entity steering shaft 10, and one of crankshaft is that can bypass double yoke suspensions or wheat The hooked of not inferior suspension AA damping spring guide rod 25 turns to swing arm 106, and the connection control hub spindle 60 of entity steering shaft 10 refers to To, while engine drive power, through center differential or transfer gear 95-1 connection driving front axle differential 95-2 and rear axle differential Device 95-3, front axle differential 95-2 engage tachometer generator on each jack shaft 93 to two sides wheel output driving semiaxis 93, Actual measurement current potential corresponding to real-time monitoring jack shaft differential, and link and mark with vector acquired from steering model controller Current potential carry out potential balance comparison, regulate and control differential in time, prevent wheel-slip, from jack shaft 93 transmission come driving force, It is engaged through bevel gear 56 with the inner end bevel gear of hub spindle 60, meshing point should fall in entity steering shaft 10 and hub spindle 60 central spindle square crossing points are between tire grounding point, and the connection of hub spindle 60 controls respective wheel hub and the normal of wheel 18 is directed toward, All wheel hub normals are instantaneously directed toward same traveling identically and turn to the center of circle, and synchronous manipulate with 2 steering angle α of steering wheel is moved；Permit Perhaps front wheel steering model controller P10 installation direction carries out being suitable for adjustment, to adapt to installation space, but must be with entity steering shaft 10 phase angles correspond；In model controller P10, omnipotent steering formula and vehicle frame only are pressed to off-front wheel steering angle β Given parameters M/H ratio carries out cosine compensation, that is, presses the displacement of standard sine sin α * r kinematic link, obtains in M/H ratio Cosine compensation displacement, i.e. Δ cos β=sin α * r*M/H；Model controller P10 is by whether the servo-actuated standard cosine that is divided into of cosine is servo-actuated Version or not servo-actuated version cosine compensation, wherein not servo-actuated version reduces manufacturing cost, performance cannot reach obtuse angle steering range；It is pure The mechanical mode for obtaining cosine compensation Δ cos β, including cosine compensate sliding slot SW, reverse gear 101, reverse swing rod 107, is ellipse 200 4 kinds of Circular test cam channel；The steering angle α of principal direction disk 2 wears layer slipper bearing 201 with the connection of standard radius r swing arm 21, Lateral cosine sliding slot or slide rail roof beam structure 4 and both ends T shape guide runner or sliding bearing leading truck component are driven, it is solid along two sides Determine 111 lengthwise sliding displacement of frame sliding slot (or slide rail), while also driving 5 edge of longitudinally sinusoidal sliding slot or the first slide rail Lateral cosine sliding slot or slide rail roof beam structure 4 slide laterally displacement, and longitudinal on longitudinally sinusoidal sliding slot or the first slide rail 5 While 203 lateral displacement sin α * r of layer bearing slider is worn in the drive of sliding slider bearing, machine is manipulated by four kinds of cosine compensation ways (attachment is connected to the compensation of the cosine on lateral cosine sliding slot or slide rail roof beam structure 4 sliding slot SW, fixed shaft end and sinusoidal displacement to structure Rack gear manipulation end is separately connected lateral cosine sliding slot or slide rail roof beam structure 4 and longitudinally sinusoidal sliding slot or the first slide rail 5 It reverses gear 101, fixed shaft end and sinusoidal displacement slipper bearing manipulation end and is separately connected lateral cosine sliding slot or slide rail beam The reversing swing rod 107 of frame 4 and longitudinally sinusoidal sliding slot or the first slide rail 5, attachment be connected to two sides fixed frame sliding slot (or Slide rail) 111 elliptical orbit cam channel 200) one of constraint, wear layer bearing slider 203 generate length travel sin α * r*M/H, i.e. cosine compensation displacement, and connect the crucial control point axis for driving T shape two dimension synthesis manipulation arm 7 and its tip position Gi, crucial control point bearing Gi split connection slipper bearing 110 are held, then drives control vector manipulation swing arm sliding slot or slide rail The direction of slide bar (102), i.e. the steering angle β of steering model controller P10 output shaft 109；It is used from input shaft 202, output shaft 109 The near front wheel steering angle α, is connected to the near front wheel respectively by one of three kinds of swing arm single connecting rod, double crankshaft connecting rod, gearing shaft modes In entity steering shaft 10, off-front wheel steering angle β output off-front wheel entity steering shaft 10, wherein entity steering shaft 10 connects double-crankshaft In the radius swing rod of connecting rod 108, there is one group to turn to swing arm 106 for hooked, allow it around for spring conductor rod 25 and connecting rod 108 connections；Swept resistance potentiometer, key manipulation are installed in vector manipulation swing arm sliding slot or 102 side of slide rail slide bar simultaneously Point bearing Gi drives swept resistance potentiometer electrode brush to be displaced along vector manipulation swing arm sliding slot or slide rail slide bar 102, and four The difference that is equipped with of the attachment of swept resistance potentiometer corresponding to wheel installation position, swept resistance potentiometer corresponding to the near front wheel because To be constantly equal to standard radius, electrode brush output stage is fixed by standard radius, and swept resistance potentiometer is fixed on any one place, Swept resistance potentiometer corresponding to left rear wheel is installed along the side of two sides fixed frame sliding slot (or slide rail) 111, by cross Sliding electrode is driven to cosine sliding slot or slide rail roof beam structure 4 and both ends T shape guide runner (or sliding bearing leading truck) component Brush length travel obtains driving target current potential；The sinusoidal sliding slot or first along longitudinal direction of swept resistance potentiometer corresponding to off hind wheel The side of slide rail 5 is installed, and it is when necessary swept resistance potentiometer that zero potential is transversely aligned corresponding to central spindle position is turned to One group of sinusoidal sliding slot or 5 lateral displacement of the first slide rail along longitudinal direction are added, but longitudinal upper transversely aligned with steering central spindle holding Cosine sliding slot (or slide rail) roof beam structure after the compensation of vertical sliding motion bar connection, for installing swept resistance potentiometer；Off-front wheel It is sliding that corresponding swept resistance potentiometer is mounted on vector manipulation swing arm sliding slot or slide rail in front wheel steering model controller 102 side of bar, zero potential end are installed on secondary steering shaft central spindle position, and 2 times of high-voltage potential ends that average vehicle surveys driving current potential are ipsilateral Collimation is installed on 2 times of positions of standard radius r, and the target that electrode brush obtains corresponding wheel jack shaft drives current potential, through double Diode potential balance comparison circuit monitoring in road is compared with driving speed actual measurement current potential, is controlled after the amplification of comparing difference signal Servo-drive differential executing agency, the instantaneous velocity of electronic-controlled corresponding wheel；The reaction spirit of comparing difference signal amplification circuit Sensitivity can debug, the main difference signal base circuit resistance value for adjusting installed triode signal amplification circuit, Resistance value is bigger, and reaction more postpones, and on road surface when big rise and fall, the actual measurement revolving speed of wheel and tire should be greater than smooth-riding surface, must Differential reaction sensitivity must suitably be postponed, if 15 degree of slope bounces of single-wheel are advanced 1 meter, 0.26 meter of high jump, need to postpone 3.5% difference Speed, this needs practical debugging resistance value, and in smooth-riding surface, reduce base circuit resistance value, can ensure and prevent any single-wheel It skids.

Referring to fig. 2, the partial enlargement 3D figure of front axle, signal steering model controller P10 and vehicle frame and suspension three-dimensional arrangement The space connection relationship of body between arranged on left and right sides wheel steering shaft and model controller, illustrates two kinds of steering manipulation transmissions respectively Connection type, the first is that steering shaft toothed disc 54 is connected through gearing shaft 53, and second is that crankshaft double link 108 connects, It is hooked that wherein one group of hooked, which turns to swing arm 106, and arc-shaped crotch is to get around spring conductor rod 25, two groups of radius pendulum 60~120 degree of phase angle between arm, alternately shielding is by being straightened zero moment obstacle.Single connecting rod, can also as conventional connection To be considered as the simplification of double link, description is omitted.

It should be pointed out that engine power is after center differential 95-1 and front axle differential 95-2, then differential distribution It is transferred to two sides front-wheel drive semiaxis 93, in rear axle driving, front axle differential 95-2 input shaft and two sides front-wheel drive semiaxis 93 all installation engagements drive tachometer generator, measurement voltage/current potential are obtained after rectification, with front axle differential 95-2 input shaft 2 times of produced voltage/current potential manipulate swing arm sliding slot or slide rail to vector in steering model controller is mounted on for power supply The swept resistance potentiometer of 102 side of slide bar is powered, and the length of swept resistance potentiometer is 2 times of standard radius, with sliding block axis The electrode brush of 110 linkages is held, obtains what tachometer generator on vector manipulation target current potential, with off-front wheel jack shaft 93 obtained It surveys current potential and carries out potential balance comparison, the speed regulation of control servo differential mechanism.Because the near front wheel is always standard radius, target current potential Perseverance is 1 times of produced voltage/current potential of front axle differential 95-2 input shaft, equally controls servo differential mechanism by potential balance Execute speed regulation.The servo differential executing agency is by selecting in six kinds of servo differential executing agencies in published preceding application case One of select, until potential balance, limitation driving wheel strictly presses vector manipulation target driving.

Referring to Fig. 3, the 3D diagram of sliding slot SW editions steering model controller of unilateral side compensation.Cosine compensation sliding slot SW is fixed on cross It on cosine sliding slot or slide rail roof beam structure 4, is vertically moved with standard cosine, the gradient that cosine compensates sliding slot SW is pre- by M/H First set.Steering angle α from steering wheel 2 is transferred to input shaft 202, drives radius swing rod 21, the shaft pertaining of radius swing rod 21 It holds drive and wears layer slipper bearing 201, in cosine gearing layer, drive in two sides fixed frame sliding slot (or second slide rail) 111 The lateral standard lateral cosine sliding slot or slide rail roof beam structure 4 of middle longitudinal sliding motion, while also cosine being driven to compensate sliding slot SW；Wear layer Slipper bearing 201 directly vertically connects longitudinally sinusoidal sliding slot or the first slide rail 5 in sinusoidal gearing layer, and it is whole horizontal to control it To displacement, sinusoidal sliding slot or the first slide rail 5 guiding the driven of slidable connection wear layer slipper bearing 203 along longitudinal direction, are wearing When the compensation sliding slot SW of overcompensation gearing layer, longitudinal compensation displacement sin α * r*M/H has occurred, then be driven through vector manipulation arm When layer, from the stretched key control point bearing Gi of the central spindle of slipper bearing 203, the slipper bearing 110 around periphery is driven, is driven Dynamic vector manipulates swing arm sliding slot or slide rail slide bar 102, and vector current potential driving swept resistance potentiometer is installed on vector manipulation 102 side of swing arm sliding slot or slide rail slide bar, vector manipulates swing arm sliding slot or one end installation of slide rail slide bar 102 turns To output shaft 109, steering angle β, output shaft 109 and input shaft 202 are axial line concentric relation.

Referring to fig. 4, the 3D diagram of 107 editions steering model controllers of swing rod sliding slot is reversed in unilateral cosine compensation.It will be in Fig. 3 Cosine compensation sliding slot SW, which is replaced with, reverses swing rod 107, because relying primarily on the longitudinally sinusoidal sliding slot of standard or the first slide rail 4 and indulging It is that the deflection of swing rod 107, standard sine lateral displacement are reversed in control to the relative displacement between sinusoidal sliding slot or the first slide rail 5 Measuring the ratio between sliding slot length travel amount vertical with swing rod 107 is reversed is H/M, this length travel is cosine compensation position It moves, this displacement is transferred to crucial control point bearing Gi by layer slipper bearing 203 of wearing of guiding sliding in sinusoidal sliding slot.This is advancing slip Block bearing 201 and the hereafter other transmission manipulations and vector differential control of vector manipulation swing arm sliding slot or slide rail slide bar 102 The description of system is identical as described in Fig. 3.

Referring to Fig. 5, the 3D diagram of 101 editions steering model controllers of gear is reversed in unilateral cosine compensation.By the cosine in Fig. 3 Compensation sliding slot SW, which is replaced with, reverses gear 101, because relying primarily on the longitudinally sinusoidal sliding slot of standard or the first slide rail 4 and longitudinal direction just Rack gear relative displacement control between string sliding slot or the first slide rail 5 is reversed gear 101 and is rotated, but installation site is to require , when sine is displaced to the right, it is necessary to be that cosine compensation displacement is driven to move backward, gear is being attached to longitudinal direction just around moving axis Behind the side of string sliding slot or the first slide rail 5, active rack gear 207 will be installed on cosine sliding slot crossbeam, and in slipper bearing The vertical driven rack gear 208 of 203 side installation.Figure middle rack 208 has blocked the slipper bearing 203 of disjunctor therewith, and standard is just Ratio between 207 displacement of string active rack gear and 208 displacement of driven rack gear is H/M, by the gear point of reversing gear 101 Degree radius of circle is determined that driven rack gear 208 drives layer slipper bearing 203 of wearing of guiding sliding in sinusoidal sliding slot to pass this displacement Move crucial control point bearing Gi.Slipper bearing 201 and hereafter vector manipulation swing arm sliding slot or slide rail slide bar 102 before this Other transmission manipulations and the description of vector differential control are identical as described in Fig. 3.

Referring to Fig. 6, the 3D design drawing of gear 101 is reversed, is made of two coaxial gears, M indicates two sides front-wheel steer The distance between axis, H indicate the distance between front axle and rear axle.

Referring to Fig. 7, the 3D diagram of unilateral cosine compensation 200 editions steering model controllers of elliptical orbit cam.In Fig. 1, In steering model controller P10, the track of off-front wheel key control point bearing walking is ellipse, this has note in the prior art It carries and other control modes can prove that true track.Track in Fig. 1 is fixed up, or by omnipotent steering formula Cos β * r=cos α * r+sin*r*M/H solves elliptic equation, in design software, curvilinear equation trajectory line is scanned and is stretched Sliding slot is cut again, becomes three D cam channels 200, i.e., shown in Fig. 3.In order to realize the equivalent effect for wearing layer bearing, in sliding block axis It holds in the axle sleeve between 110 and key control point bearing Gi, a stretched bias connects crankshaft 212 around neck, from cam 200 inner circle side of sliding slot bypasses, and the equiphase axle sleeve on connection sliding block bearing 203 simultaneously realizes parallel link, in sinusoidal sliding slot The sinusoidal displacement for wearing the transmission of layer slipper bearing 203 of middle guiding sliding and the compensation displacement of cam locus cosine are transferred to crucial manipulation Point bearing Gi.Slipper bearing 201 and hereafter other transmissions manipulation of vector manipulation swing arm sliding slot or slide rail slide bar 102 before this And the description of vector differential control is identical as described in Fig. 3.

It will be double yoke suspensions shown in Fig. 2 by taking Fig. 2 the near front wheel as an example, Fig. 8 is to replace with McPherson improvement referring to Fig. 8 Version-damping spring guide rod 25 levels off to vertical suspension, other identical.It connects steering wheel 2 simultaneously and steering model controller is defeated Enter the gearing shaft 53 of axis, centre sets gimbal coupling, overcomes suspension displacement bounce and drive line angle uneven, end umbrella tooth Wheel connection steering shaft toothed disc 54,54 semi arch hollow out of toothed disc bypass damping spring guide rod 25, and steering shaft drives hub spindle 60 shell turns to together, and the shell under by McPherson suspension yoke and spring conductor rod controlled, three-dimensional three points and vehicle frame 15 connections are only permitted wherein two tie points of lower yoke are bearing connections, and constitute approximate right angle triangle with steering shaft central spindle Perhaps it is similar to beat in parallel up and down, plays vibration reduction efficiency, meanwhile, allow inboard wheel steering angle close to right angle.Front axle is poor After fast device 95-2 output shaft gear engagement tachometer generator is dynamic, jack shaft 93 is connected, is driven through gimbal coupling, connection turns The bevel gear 56 installed to axis lower end institute's coaxial core, driving bevel gear 56 rotate, then drive and be engaged in driving umbrella shape tooth 60 end bevel gear of hub spindle on wheel 56, point of mesh are located at from tire and ground contact surface central point, arrive steering shaft 10 axial lines and 60 axial line crosspoint of hub spindle, between this two o'clock line.In this way, between driving torque and steering moment Interfere with each other minimum.

In noun title, because left side steering shaft merges with axis column, therefore axis cosine is renamed as standard cosine；Installation Front wheel steering model controller unilateral side cosine compensates version, and rear-wheel is not involved in the vehicle of steering and driving, and exemplary embodiments draft name For the agile SUV in city；On this basis, rear-wheel participates in turning to the vehicle for the electronic-controlled differential driving that links with vector, allusion quotation in due course Type embodiment drafts the entitled super agile cross-country vehicle of SUV.

Claims (2)

1. a kind of multiwheel vehicle equipped with simplified unilateral cosine compensation front wheel steering model controller, including vehicle body frames (15) and Wheel (18), which is characterized in that respectively install a wheel (18), rear portion middle part in the front part sides of the vehicle body frames (15) Or a coaxial wheel (18) is respectively installed in two sides, the wheel (18) at rear portion is not involved in steering；The wheel (18) of two fronts is each It is connect by a jack shaft (93) with the vehicle body frames (15), principal direction is housed in vehicle body frames (15) front center Disk (2), principal direction disk (2) are connected by the input shaft (202) of gearing shaft (53) and front wheel steering model controller (P10) It connects, it is preceding using one of gearing shaft (53) or crankshaft double link (108) or (108) three kinds of connection types of swing arm single connecting rod It rotates to model controller (P10) input shaft (202) and the near front wheel and turns to axis connection, output shaft (109) and off-front wheel steering shaft Connection；Power device is housed at the middle part of vehicle body frames (15), output end by center differential or transfer gear (95-1) with Being mounted between two jack shafts (93) front axle differential (95-2) and the rear axle differential that is mounted on rear body axis (95-3) transmission connection.

2. the multiwheel vehicle according to claim 1 equipped with simplified unilateral cosine compensation front wheel steering model controller, It is characterized in that, the front wheel steering model controller (P10) includes input shaft (202) and output shaft (109), output shaft (109) with the semi-circle gear disk (54) or output shaft (109) of gearing shaft (53) connection off-front wheel entity steering shaft (10) The double-crankshaft swing arm of off-front wheel entity steering shaft (10) is connected with double crankshaft connecting rod (108), one of crankshaft is double to can bypass The hooked of yoke suspension (AA) damping spring guide rod (25) turns to swing arm (106), and entity steering shaft (10) connects control wheel Hub axle (60) is directed toward, while engine drive power is through center differential or transfer gear (95-1) connection driving front axle differential (95- 2) it is sequentially connected with rear axle differential (95-3), front axle differential (95-2) and two sides wheel jack shaft (93)；From driving half The driving force that axis (93) transmission comes, is engaged through bevel gear (56) with the inner end bevel gear of hub spindle (60), meshing point is answered Entity steering shaft (10) and hub spindle (60) central spindle square crossing point are fallen between tire grounding point, hub spindle (60) connection is controlled The normal for making respective wheel hub and wheel (18) is directed toward, and all wheel (18) wheel hub normals are instantaneously directed toward same traveling identically and turn to The center of circle, and synchronous manipulate with steering wheel (2) steering angle α is moved；Front wheel steering model controller (P10) installation direction is allowed to carry out It is suitable for adjustment, to adapt to installation space, but must be corresponded with entity steering shaft (10) phase angle；In model controller (P10) in, cosine compensation only is carried out in omnipotent steering formula and vehicle frame given parameters M/H ratio to off-front wheel steering angle β, The displacement for pressing standard sine sin α * r kinematic link obtains cosine compensation displacement, i.e. Δ cos β=sin α * r* in M/H ratio M/H；Model controller (P10) is divided into the servo-actuated version of standard cosine or not servo-actuated version cosine compensation by whether cosine is servo-actuated, wherein Not servo-actuated version reduces manufacturing cost, and performance cannot reach obtuse angle steering range；The cosine compensation is that Purely mechanical obtains Cosine compensates the structure of Δ cos β, including cosine compensation sliding slot (SW), reversing gear (101), reversing swing rod (107), oval rail (200) four kinds of mark cam channel；The steering angle α of principal direction disk (2) wears a layer slipper bearing with standard radius r swing arm (21) connection (201), lateral cosine sliding slot or slide rail roof beam structure (4) and both ends T shape guide runner or sliding bearing leading truck component are driven, Along two sides fixed frame sliding slot or the second slide rail (111) lengthwise sliding displacement, while also driving longitudinally sinusoidal sliding slot or Transversely cosine sliding slot or slide rail roof beam structure (4) slide laterally displacement to one slide rail (5), and in longitudinally sinusoidal sliding slot or While a layer bearing slider (203) lateral displacement sin α * r is worn in the drive of longitudinal sliding motion slipper bearing on one slide rail (5), by attached Be connected on cosine sliding slot or slide rail roof beam structure (4) four kinds of cosine compensation way operating-controlling mechanism cosine compensation sliding slot (SW), fixed shaft end and sinusoidal displacement rack gear manipulation end are separately connected cosine sliding slot or slide rail roof beam structure (4) and longitudinally sinusoidal The reversing gear (101) of sliding slot or the first slide rail (5), fixed shaft end and sinusoidal displacement slipper bearing manipulation end are separately connected The reversing swing rod (107) of cosine sliding slot or slide rail roof beam structure (4) and longitudinally sinusoidal sliding slot or the first slide rail (5), attachment It is connected to the constraint of one of elliptical orbit cam channel (200) of two sides fixed frame sliding slot or the second slide rail (111), is worn Layer bearing slider (203) generates length travel sin α * r*M/H, i.e. cosine compensation displacement, and connects the crucial control point bearing of drive (Gi), crucial control point bearing (Gi) split connection slipper bearing (110), then drive control vector manipulation swing arm sliding slot or sliding The direction of guide rail slide bar (102), i.e. the steering angle β of steering model controller (P10) output shaft (109)；From input shaft (202), One of output shaft (109) single connecting rod swing arm, double crankshaft connecting rod, three kinds of modes of gearing shaft, respectively the near front wheel steering angle α Be connected to the near front wheel entity steering shaft (10), off-front wheel steering angle β output off-front wheel entity steering shaft (10) on, wherein entity turn To axis (10) connection double crankshaft connecting rod (108) radius swing rod in, have one group for hooked turn to swing arm (106), allow its around It is connect for spring conductor rod (25) with connecting rod (108)；Vector manipulation swing arm sliding slot or slide rail slide bar (102) side peace simultaneously Swept resistance potentiometer is filled, crucial control point bearing (Gi) drives swept resistance potentiometer electrode brush to manipulate swing arm sliding slot along vector Or slide rail slide bar (102) is displaced, the difference that the attachment of swept resistance potentiometer corresponding to four wheels installation position is equipped with, it is left Swept resistance potentiometer corresponding to front-wheel because being constantly equal to standard radius, fixed by standard radius by electrode brush output stage, sliding Resistance potentiometer is fixed on any one place, swept resistance potentiometer corresponding to left rear wheel along two sides fixed frame sliding slot or The side of second slide rail (111) is installed, by cosine sliding slot or slide rail roof beam structure (4) and both ends T shape guide runner or cunning Dynamic bearing leading truck component drives the length travel of sliding electrode brush, obtains driving target current potential；The electricity of sliding corresponding to off hind wheel Hindering potentiometer, the side of sinusoidal sliding slot or slide rail (5) is installed along longitudinal direction, and it is lateral that zero potential corresponds to steering central spindle position Concordantly, one group is added along sinusoidal sliding slot or slide rail (5) lateral displacement for swept resistance potentiometer (100) when necessary, but indulge Cosine sliding slot or slide rail roof beam structure after the compensation for keeping transversely aligned vertical sliding motion bar to connect with steering central spindle upwards, for pacifying Fill swept resistance potentiometer；Swept resistance potentiometer corresponding to off-front wheel is mounted on vector in front wheel steering model controller and grasps Control swing arm sliding slot or slide rail slide bar (102) side；The zero potential end of swept resistance potentiometer is installed on secondary steering shaft central spindle Position, 2 times of ipsilateral collimations in high-voltage potential end that average vehicle surveys driving current potential are installed on 2 times of positions of standard radius r, electrode brush The target for obtaining corresponding wheel jack shaft drives current potential, through the monitoring of two-way diode potential balance comparison circuit and driving speed Actual measurement current potential is compared, and controls servo-drive differential executing agency, electronic-controlled corresponding wheel after the amplification of comparing difference signal Instantaneous velocity；The reaction sensitivity of comparing difference signal amplification circuit can debug, main to adjust installed three-level The difference signal base circuit resistance value of pipe signal amplification circuit, resistance value is bigger, and reaction more postpones.