CN215284966U - Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching - Google Patents
Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching Download PDFInfo
- Publication number
- CN215284966U CN215284966U CN202121027182.3U CN202121027182U CN215284966U CN 215284966 U CN215284966 U CN 215284966U CN 202121027182 U CN202121027182 U CN 202121027182U CN 215284966 U CN215284966 U CN 215284966U
- Authority
- CN
- China
- Prior art keywords
- axle
- steering
- bridge
- swing arm
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000008602 contraction Effects 0.000 claims description 3
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
Images
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model relates to a can realize multiaxis car a steering system that manual steering and steer-by-wire switched. The multi-axle vehicle steering system aims to solve the technical problems that the existing multi-axle vehicle steering system cannot switch steering modes under different road conditions and different scenes, and the vehicle operation stability is poor. The technical scheme is as follows: it includes CEPS steering column, the automatically controlled hydraulic power assisted steering system of two return circuits, front axle electric power steering system and rear axle electric power steering system, the utility model discloses can switch the steering mode at the road conditions of difference, different scenes, compromise high-speed steering stability and low-speed steering mobility, improve vehicle operating stability, reduce the minimum turning radius of vehicle, improve whole car mobility.
Description
Technical Field
The utility model belongs to the technical field of the multi-axle vehicle steering control, concretely relates to can realize manual steering and multi-axle vehicle a steering system that the steer-by-wire switches.
Background
The steering system is used for changing or maintaining the driving or reversing direction of the automobile, and the automobile steering system is important for the driving safety of the automobile, so that parts of the automobile steering system are called safety parts, the automobile steering system and the brake system are two systems which must be considered for the safety of the automobile, and the function of the automobile steering system is to control the driving direction of the automobile according to the intention of a driver.
The conventional multi-axle vehicle steering system is mainly a hydraulic power steering system, and the hydraulic power steering system is provided with a power cylinder, a control valve, an oil pump, an oil inlet and return pipeline and other hydraulic power devices on the basis of a mechanical steering gear to provide steering assistance, but because the design parameters are fixed, the assistance characteristic is also fixed, the assistance cannot be adjusted according to the condition of the road surface, and the steering portability and the road surface are difficult to coordinate; an oil pump of the steering system is always in a working state, so that the fuel consumption is increased; the hydraulic actuator can generate leakage of oil due to aging, damage and the like, the environment is easily polluted, a hydraulic system has certain requirements on the working temperature, and the low-temperature working performance is poor; the newly developed electric power steering system EPS refers to a steering system that overcomes steering resistance to perform steering operation by combined action of a hand force input by a driver during steering of an automobile and a steering power provided by a direct-current motor, but cannot perform steer-by-wire operation and cannot realize steering mode switching of a multi-axle vehicle under different road conditions and different scenes.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the technical problem that current multi-axle vehicle steering system can't carry out the drive-by-wire operation, can't turn to the switching of mode under different road conditions and different scenes, provide a can realize the multi-axle vehicle steering system that manual steering and drive-by-wire switched.
In order to solve the technical problem, the utility model discloses a technical scheme is:
a multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching comprises a CEPS steering column, a double-loop electric control hydraulic power steering system, a front axle electric steering system and a rear axle electric steering system;
the CEPS steering column comprises an EPS controller, a three-phase brushless motor, an upper column and a worm gear speed reducing mechanism, wherein one end of the upper column is connected with a central shaft of a steering wheel of the multi-axle vehicle steering system, the other end of the upper column is connected with the worm gear speed reducing mechanism, the worm gear speed reducing mechanism is connected with an output shaft of the three-phase brushless motor, the three-phase brushless motor is electrically connected with the EPS controller, and the EPS controller is electrically connected with a DC-DC converter;
the double-loop electric control hydraulic power-assisted steering system comprises a steering controller, an angle steering gear, a steering transmission shaft, a double-loop power steering gear, a transmission pull rod, two electric steering pumps and two steering pump controllers, the steering controller is arranged on a CEPS steering column, the lower end of the CEPS steering column is connected with an angle steering gear, the angle steering gear is connected with one end of a steering transmission shaft, the other end of the steering transmission shaft is connected with a double-loop power steering gear, the double-loop power steering gear is connected with one end of the transmission pull rod and is connected with the oil tank through two electric steering pumps, the output ends of the two steering pump controllers are respectively connected with the input ends of the two electric steering pumps, one of the steering pump controllers is connected with the EPS controller through a DC-DC converter, the output end of the other steering pump controller is connected with the input ends of the whole vehicle controller and the steering controller;
the front axle electric steering system comprises two first axle knuckle arms, two first axle tie rods, a first axle left swing arm, a first axle middle connecting rod, a second axle connecting rod, a first axle power cylinder, two power cylinder rocker arms, two power cylinder driving upright posts, a second axle left rocker arm, two second axle tie rods, two second axle knuckle arms, two axle power cylinders, two axle right swing arms, a first axle right swing arm, two axle middle connecting rods and two power cylinder driven upright posts, wherein the other end of the transmission pull rod is connected with the middle part of the first axle middle connecting rod, two ends of the first axle middle connecting rod are respectively and symmetrically connected with the middle parts of the first axle left swing arm and the first axle right swing arm, one end of the first axle left swing arm is connected with one axle tie rod, the other end of the first axle tie rod is connected with one axle knuckle arm, the other axle tie rod and the first axle knuckle arm are symmetrically arranged at one end of the first axle right swing arm, one power cylinder driven upright post is arranged on the top surface of the other end of the first axle left swing arm, the other end of the first bridge left swing arm is connected with one end of a first and second bridge connecting rod, the other end of the first and second bridge connecting rod is connected with one end of a second bridge left swing arm, the booster cylinder driving upright is arranged on the top surface of one end of the second bridge left swing arm, the booster cylinder rocker is arranged on the top surface of one booster cylinder driving upright, the other end of the booster cylinder rocker is connected with the telescopic rod of the first bridge booster cylinder, the base of the first bridge booster cylinder is arranged on the top surface of the first bridge left swing arm, the other end of the second bridge left swing arm is connected with one end of a second bridge cross pull rod, the other end of the second bridge cross pull rod is connected with a second bridge knuckle arm, the middle part of the second bridge left swing arm is connected with one end of a second bridge middle connecting rod, the other end of the second bridge middle connecting rod is connected with the middle part of the second bridge right swing arm, and the other second bridge cross pull rod and the second bridge knuckle arm are symmetrically arranged at one end of the second bridge right swing arm, the other power cylinder driven upright post is arranged on the top surface of the other end of the two-axle right swing arm, the base of the two-axle power cylinder is arranged on the top surface of the two-axle right swing arm, the telescopic rod of the two-axle power cylinder is connected with one end of the other power cylinder rocker arm, the other power cylinder rocker arm is arranged on the top surface of the other power cylinder driving upright post, the other power cylinder driving upright post is arranged on the top surface of the other end of the one-axle right swing arm, the other ends of the two one-axle knuckle arms and the two-axle knuckle arms are connected with a front wheel of a vehicle, and the one-axle power cylinder and the two-axle power cylinder are connected with an oil tank through a double-loop power steering gear.
The rear axle electric steering system comprises two three-axle knuckle arms, two three-axle tie rods, a three-axle left swing arm, two electric cylinder driving stand columns, two four-axle tie rods, two four-axle knuckle arms, a four-axle left swing arm, a four-axle middle connecting rod, a three-axle middle connecting rod, a four-axle right swing arm, two electric cylinder swing arms, two electric cylinders, an electric cylinder driven stand column and a three-axle right swing arm, wherein two ends of the three-axle middle connecting rod are respectively connected with the middle parts of the three-axle left swing arm and the three-axle right swing arm, one end of the three-axle left swing arm is connected with one end of one three-axle tie rod, the other end of one three-axle tie rod is connected with one end of one three-axle knuckle arm, the other three-axle knuckle arm and the three-axle tie rod are symmetrically arranged at one end of the three-axle right swing arm, one of the electric cylinders is actively vertically arranged on the top surface of the other end of the three-axle left swing arm, one end of one electric cylinder swing arm is arranged on the top surface of one electric cylinder driving stand column, the other end of the electric cylinder rocker arm is connected with a contraction rod of an electric cylinder, the base of the electric cylinder is arranged on the top surface of the four-bridge left rocker arm, the middle part of the bottom surface of the four-bridge left rocker arm is connected with one end of a four-bridge middle connecting rod, the other end of the four-bridge middle connecting rod is connected with the middle part of the bottom surface of the four-bridge right rocker arm, the driving upright post of the other electric cylinder is arranged on the top surface of one end of the four-bridge right rocker arm, the rocker arm of the other electric cylinder is arranged on the top surface of the driving upright post of the other electric cylinder, the other end of the rocker arm of the other electric cylinder is connected with the expansion rod of the other electric cylinder, the base of the other electric cylinder is arranged on the middle part of the top surface of the three-bridge right rocker arm, the driven upright post of the electric cylinder is arranged at one end of the top surface of the three-bridge right rocker arm, one end of the four-bridge left rocker arm is connected with one end of a four-bridge cross-link arm, the other four-axle tie rod and the four-axle knuckle arm are symmetrically arranged at the other end of the four-axle right swing arm, and the other ends of the two three-axle knuckle arms and the other ends of the two four-axle knuckle arms are connected with a rear wheel of the vehicle;
the rear axle electric steering system further comprises two electric cylinder controllers and two motors, the two electric cylinder controllers are electrically connected with the two steering pump controllers and the two motors, the two electric cylinder controllers are in communication connection with the steering controllers, and output shafts of the two motors are respectively connected with rear wheels of a vehicle.
Furthermore, a power-off brake and a torque sensor are further arranged at the connection position of the worm gear and worm speed reducing mechanism of the CEPS steering column and the three-phase brushless motor, and the power-off brake and the torque sensor are electrically connected with the EPS controller.
Furthermore, rotation sensors and power-off brakes are arranged on output shafts of two motors in the rear axle electric steering system and a rear wheel connecting shaft of the vehicle, and the rotation sensors and the power-off brakes are electrically connected with the steering controller.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a remote control signal remote control realizes that the vehicle carries out front axle steering and full axle steering, can realize the drive-by-wire operation, can switch the steering mode in the road conditions of difference, different scenes, compromises high-speed steering stability and low-speed steering mobility, and full round turns to can improve vehicle control stability, reduces the minimum turning radius of vehicle, improves whole car mobility.
Drawings
Fig. 1 is an overall layout diagram of the present invention;
FIG. 2 is a schematic view of the steering operation of the present invention;
FIG. 3 is a flow chart of the electro-hydraulic steering system of the present invention;
FIG. 4 is a flow chart of the remote control all round mode of the present invention;
FIG. 5 is a flow chart of the remote control front wheel mode of the present invention;
FIG. 6 is a flow chart of the manual all-wheel mode of the present invention;
FIG. 7 is a flow chart of the manual front wheel model of the present invention;
in the figure: 1-steering wheel, 2-CEPS steering column, 3-steering controller, 4-angle steering gear, 5-steering transmission shaft, 6-double loop power steering gear, 7-transmission pull rod, 8-one bridge knuckle arm, 9-one bridge tie rod, 10-one bridge left swing arm, 11-one bridge middle connecting rod, 12-one and two bridge connecting rods, 13-one bridge boosting cylinder, 14-boosting cylinder rocker arm, 15-boosting cylinder driving upright post, 16-two bridge left rocker arm, 17-two bridge tie rod, 18-two bridge knuckle arm, 19-three bridge knuckle arm, 20-three bridge tie rod, 21-three bridge left swing arm, 22-electric cylinder driving upright post, 23-four bridge tie rod, 24-four bridge knuckle arm, 25-four bridge left rocker arm, 26-four bridge middle connecting rod, 27-three-bridge middle connecting rod, 28-four-bridge right swing arm, 29-electric cylinder swing arm, 30-electric cylinder, 31-electric cylinder driven upright post, 32-three-bridge right swing arm, 33-two-bridge boosting cylinder, 34-two-bridge right swing arm, 35-one-bridge right swing arm, 36-two-bridge middle connecting rod and 37-boosting cylinder driven upright post.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in fig. 1 to 7, a multi-axle vehicle steering system capable of switching between manual steering and steer-by-wire, is characterized in that: the steering system comprises a CEPS steering column 2, a double-loop electric control hydraulic power-assisted steering system, a front axle electric steering system and a rear axle electric steering system;
the CEPS steering column 2 comprises an EPS controller, a three-phase brushless motor, an upper column and a worm gear speed reducing mechanism, wherein one end of the upper column is connected with a central shaft of a steering wheel 1 of a multi-axle vehicle steering system, the other end of the upper column is connected with the worm gear speed reducing mechanism, the worm gear speed reducing mechanism is connected with an output shaft of the three-phase brushless motor, the three-phase brushless motor is electrically connected with the EPS controller, the EPS controller is electrically connected with a DC-DC converter, a power-off brake and a torque sensor are further arranged at the connection position of the worm gear speed reducing mechanism of the CEPS steering column 2 and the three-phase brushless motor, and the power-off brake and the torque sensor are electrically connected with the EPS controller;
the double-loop electric control hydraulic power-assisted steering system comprises a steering controller 3, an angle steering gear 4, a steering transmission shaft 5, a double-loop power steering gear 6, a transmission pull rod 7, two electric steering pumps and two steering pump controllers, wherein the steering controller 3 is arranged on a CEPS steering column 2, the lower end of the CEPS steering column 2 is connected with the angle steering gear 4, the angle steering gear 4 is connected with one end of the steering transmission shaft 5, the other end of the steering transmission shaft 5 is connected with the double-loop power steering gear 6, the double-loop power steering gear 6 is connected with one end of the transmission pull rod 7, the double-loop power steering gear 6 is connected with an oil tank through the two electric steering pumps, the output ends of the two steering pump controllers are respectively connected with the input ends of the two electric steering pumps, one of the two steering pump controllers is connected with an EPS controller through a DC-DC converter, the output end of the other steering pump controller is connected with the input ends of the whole vehicle controller and the steering controller 3;
the front axle electric steering system comprises two first axle knuckle arms 8, two first axle tie rods 9, a first axle left swing arm 10, a first axle middle connecting rod 11, a second axle connecting rod 12, a first axle power cylinder 13, two power cylinder rocker arms 14, two power cylinder driving upright posts 15, a second axle left swing arm 16, two second axle tie rods 17, two second axle knuckle arms 18, a second axle power cylinder 33, a second axle right swing arm 34, a first axle right swing arm 35, a second axle middle connecting rod 36 and two power cylinder driven upright posts 37, the other end of the transmission pull rod 7 is connected with the middle part of the first axle middle connecting rod 11, the two ends of the first axle middle connecting rod 11 are respectively and symmetrically connected with the middle parts of the first axle left swing arm 10 and the first axle right swing arm 35, one end of the first axle left swing arm 10 is connected with one axle tie rod 9, the other end of the first axle tie rod 9 is connected with one axle knuckle arm 8, the other one axle tie rod 9 and one axle knuckle arm 8 are symmetrically arranged at one end of the first axle right swing arm 35, the power cylinder driven upright 37 is arranged on the top surface of the other end of the one-bridge left swing arm 10, the other end of the one-bridge left swing arm 10 is connected with one end of a two-bridge connecting rod 12, the other end of the two-bridge connecting rod 12 is connected with one end of a two-bridge left swing arm 16, the power cylinder driving upright 15 is arranged on the top surface of one end of the two-bridge left swing arm 16, the power cylinder swing arm 14 is arranged on the top surface of the power cylinder driving upright 15, the other end of the power cylinder swing arm 14 is connected with the telescopic rod of the one-bridge power cylinder 13, the base of the one-bridge power cylinder 13 is arranged on the top surface of the one-bridge left swing arm 10, the other end of the two-bridge left swing arm 16 is connected with one end of a two-bridge cross pull rod 17, the other end of the two-bridge cross pull rod 17 is connected with a two-bridge knuckle arm 18, the middle part of the two-bridge left swing arm 16 is connected with one end of a two-bridge middle connecting rod 36, the other end of the two-bridge middle connecting rod 36 is connected with the middle part of the two-bridge right swing arm 34, the other two-bridge cross pull rod 17 and the two-bridge knuckle arm 18 are symmetrically arranged at one end of the two-bridge right swing arm 34, the other power cylinder driven upright 37 is arranged on the top surface of the other end of the two-axle right swing arm 34, the base of the two-bridge boosting cylinder 33 is arranged on the top surface of the two-bridge right swing arm 34, the telescopic rod of the two-bridge boosting cylinder 33 is connected with one end of the other boosting cylinder rocker arm 14, the other cylinder swing arm 14 is arranged on the top surface of the other cylinder active column 15, the other power cylinder driving upright post 15 is arranged on the top surface of the other end of the bridge right swing arm 35, the other ends of the two first-axle knuckle arms 8 and the two second-axle knuckle arms 18 are connected with front wheels of the vehicle, and the first-axle power cylinder 13 and the second-axle power cylinder 33 are connected with an oil tank through the double-loop power steering gear 6.
The rear axle electric steering system comprises two three-axle knuckle arms 19, two three-axle tie rods 20, a three-axle left swing arm 21, two electric cylinder driving upright posts 22, two four-axle tie rods 23, two four-axle knuckle arms 24, a four-axle left rocker arm 25, a four-axle middle connecting rod 26, a three-axle middle connecting rod 27, a four-axle right swing arm 28, two electric cylinder rocker arms 29, two electric cylinders 30, an electric cylinder driven upright post 31 and a three-axle right swing arm 32, wherein two ends of the three-axle middle connecting rod 27 are respectively connected with the middle parts of the three-axle left swing arm 21 and the three-axle right swing arm 32, one end of the three-axle left swing arm 21 is connected with one end of one three-axle tie rod 20, the other end of one three-axle tie rod 20 is connected with one end of one three-axle knuckle arm 19, the other three-axle knuckle arm 19 and the three-axle tie rod 20 are symmetrically arranged at one end of the three-axle right swing arm 32, one of the electric cylinder driving upright posts 22 is arranged on the top surface of the other end of the three-axle left swing arm 21, one end of the electric cylinder rocker arm 29 is arranged on the top surface of one electric cylinder driving upright arm 22, the other end of the electric cylinder rocker arm 29 is connected with a contraction rod of one electric cylinder 30, the base of the electric cylinder 30 is arranged on the top surface of the four-bridge left rocker arm 25, the middle part of the bottom surface of the four-bridge left rocker arm 25 is connected with one end of a four-bridge middle connecting rod 26, the other end of the four-bridge middle connecting rod 26 is connected with the middle part of the bottom surface of a four-bridge right swing arm 28, the other electric cylinder driving upright arm 22 is arranged on the top surface of one end of the four-bridge right swing arm 28, the other electric cylinder rocker arm 29 is arranged on the top surface of the other electric cylinder driving upright arm 22, the other end of the other electric cylinder rocker arm 29 is connected with an expansion rod of the other electric cylinder 30, the base of the other electric cylinder 30 is arranged on the middle part of the top surface of a three-bridge right swing arm 32, the electric cylinder driven upright arm 31 is arranged on one end of the top surface of the three-bridge right swing arm 32, one end of the four-axle left rocker arm 25 is connected with one end of a four-axle tie rod 23, the other end of the four-axle tie rod 23 is connected with one end of a four-axle knuckle arm 24, the other four-axle tie rod 23 and the four-axle knuckle arm 24 are symmetrically arranged at the other end of a four-axle right swing arm 28, and the other ends of the two three-axle knuckle arms 19 and the two four-axle knuckle arms 24 are connected with a rear wheel of the vehicle;
the rear axle electric steering system further comprises two electric cylinder controllers and two motors, the two electric cylinder controllers are electrically connected with the two steering pump controllers and the two motors, the two electric cylinder controllers are in communication connection with the steering controller 3, and output shafts of the two motors are respectively connected with rear wheels of a vehicle.
And output shafts of two motors in the rear axle electric steering system and a rear wheel connecting shaft of the vehicle are respectively provided with a rotation sensor and a power-off brake, and the rotation sensor and the power-off brake are electrically connected with the steering controller 3.
The utility model discloses the theory of operation as follows:
under the condition of driving, a driver operates a steering wheel 1, the steering wheel inputs the steering angle of the steering wheel, the steering wheel 1 is transmitted to an angle steering device 4 and a steering transmission shaft 5 through a CEPS steering column 2, the final steering angle is input into a double-loop power steering device 6, the double-loop power steering device 6 opens an internal control valve after receiving the steering angle input, high-pressure oil is distributed to a first-axle hydraulic power cylinder 13 and a second-axle hydraulic power cylinder 33, a power cylinder rocker 14 is pushed, the rocker 14 pushes a driving upright post 15 to rotate, the driving upright post 15 drives a second-axle left rocker 16 and a first-axle right swing arm 35 to rotate, the rotation of the second-axle left rocker 16 is transmitted to a second-axle knuckle arm 18 through a second-axle transverse pull rod 17 and is transmitted to a second-axle right swing arm 34 through a second-axle middle connecting rod 36, and the rotation of the second-axle right swing arm 34 is transmitted to the second-axle knuckle arm 18 through the second-axle transverse pull rod 17; the rotation of a right swing arm 35 of a bridge is transmitted to a left swing arm 8 of the bridge through a cross tie rod 9 of the bridge, and transmitted to a left swing arm 10 of the bridge through a middle connecting rod 11 of the bridge, the rotation of the left swing arm 10 of the bridge is transmitted to a link arm 8 of the bridge through a cross tie rod 9 of the bridge, a link arm 8 of the bridge and two link arms 18 are all connected with the wheel, thus realize the hydraulic power-assisted steering of the left and right wheels of the second bridge, the connecting rod 12 of the second bridge cooperates with the corner relation of the second bridge at the same time, make it rotate around the same instant center while turning, realize the artificial front wheel turns;
when the manual all-wheel mode is started, the CEPS steering column 2 receives a corner signal transmitted by the steering wheel 1, the corner signal is transmitted to the steering controller 3 through a CAN signal, the steering controller 3 reads a vehicle speed signal of the whole vehicle, after the vehicle speed is confirmed to be less than or equal to 30km/h, the steering controller 3 sends a CAN command to the electric cylinder 30, after the signal sent by the steering controller 3 is received, the electric cylinder 30 releases a middle locking state, the steering controller 3 reads a front axle corner signal and outputs the signal to the electric cylinder 30 through calculation, the electric cylinder 30 pushes the electric cylinder rocker 29 to rotate after receiving the signal, the rotation of the electric cylinder rocker 29 is transmitted to the three-axle left swing arm 21 and the four-axle right swing arm 28 through the driving upright post 22, the rotation of the three-axle left swing arm 21 is transmitted to the three-axle arm 19 through the three-axle tie rod 20, the three-axle left wheel rotates, and is transmitted to the three-axle right swing arm 32 through the three-axle middle connecting rod 27, the motion of the three-axle right swing arm 32 is transmitted to the three-axle knuckle arm 19 through the three-axle tie rod 20, so that the rotation of the right wheel of the three-axle is realized, the four-axle is similar, and the linear control steering of the rear two axles is finished;
under the unmanned driving condition, the steering controller 3 receives a remote control steering angle instruction, the steering controller 3 outputs a signal to the CEPS steering column 2 after analysis, the CEPS steering column 2 outputs a torque by an internal three-phase brushless motor after receiving the signal of the steering controller 3, the steering wheel 1 actively rotates, and after the steering wheel 1 actively inputs a steering angle signal, the subsequent steering operation is consistent with the manual driving;
the principle of the different steering modes is as follows:
one, front axle steering mode
1.1 unmanned mode
The EPS controller identifies a VCU steering mode, a corner instruction and a vehicle speed signal, when the system is in an unmanned driving mode, the EPS controller analyzes the corner instruction, determines the steering and torque of a motor at different vehicle speeds and drives the motor to work, simultaneously, the EPS controller detects a steering wheel corner signal in real time and judges whether the corner meets the requirement, if not, the EPS controller continues to drive the steering motor to work according to the corner difference until the corner meets a target value, the steering function of a front axle 2 in the unmanned driving mode is realized, meanwhile, the steering controller 3 collects the signal of a rear axle corner sensor and judges whether the rear axle corner is in a middle position, if not, the steering controller 3 judges the current required by the motor action according to the corner difference, drives the motor to act until the rear axle corner is in the middle position, and at the moment, the steering controller 3 controls a power-off brake, and the middle position locking of the rear axle in the unmanned driving mode is realized.
1.2 manned mode
All wheels input the steering wheel turning angle to realize the steering behavior through the intention of a driver, and the rear axle is still in a middle locking state.
II, full-axis steering mode: can run when the vehicle speed is less than 30km/h
2.1 unmanned mode
The CEPS steering system motor controls the steering wheel 1 to act and steer the front axle to realize the steering action of the front axle in the unmanned driving mode, the steering controller 3 receives a steering angle instruction and analyzes the steering angle of the rear axle under the condition that the speed of the rear axle is less than 30km/h, target current values respectively corresponding to the rear axle motor are determined, the motor is driven to work, meanwhile, the steering controller 3 collects signals of an axle steering angle sensor, judges whether the steering angle of the rear axle meets the target value or not, and the closed-loop control of the rear axle steering system in the unmanned driving mode is realized.
2.2 manned mode
The front wheels input the turning angle of a steering wheel 1 to realize steering behavior through the intention of a driver, under the condition that the speed of the rear wheels is less than 30km/h, a steering controller 3 receives a turning angle instruction and analyzes the turning angle of a rear axle, target current values respectively corresponding to motors of the rear axle are determined, the motors are driven to work, meanwhile, the steering controller 3 collects signals of an axle turning angle sensor, whether the turning angle of the rear axle meets the target value or not is judged, and if the speed of the rear axle is more than or equal to 30km/h, the steering controller 3 sends a locking reminding instruction to remind the driver to switch a steering mode through a CAN (controller area network) signal; if the monitored speed within 20s is less than 30km/h, the current action is kept, and if the speed within 20s is greater than 30km/h, the steering controller collects signals of a rear axle corner sensor to forcibly center and lock the rear axle.
Claims (3)
1. The utility model provides a can realize multiaxis car a steering system that manual steering and steer-by-wire switch, its characterized in that: the steering system comprises a CEPS steering column (2), a double-loop electric control hydraulic power-assisted steering system, a front axle electric steering system and a rear axle electric steering system;
the CEPS steering column (2) comprises an EPS controller, a three-phase brushless motor, an upper column and a worm gear speed reducing mechanism, wherein one end of the upper column is connected with a central shaft of a steering wheel (1) of a multi-axle vehicle steering system, the other end of the upper column is connected with the worm gear speed reducing mechanism, the worm gear speed reducing mechanism is connected with an output shaft of the three-phase brushless motor, the three-phase brushless motor is electrically connected with the EPS controller, and the EPS controller is electrically connected with a DC-DC converter;
the double-loop electric control hydraulic power-assisted steering system comprises a steering controller (3), an angle steering gear (4), a steering transmission shaft (5), a double-loop power steering gear (6), a transmission pull rod (7), two electric steering pumps and two steering pump controllers, wherein the steering controller (3) is arranged on a CEPS steering column (2), the lower end of the CEPS steering column (2) is connected with the angle steering gear (4), the angle steering gear (4) is connected with one end of the steering transmission shaft (5), the other end of the steering transmission shaft (5) is connected with the double-loop power steering gear (6), the double-loop power steering gear (6) is connected with one end of the transmission pull rod (7), the double-loop power steering gear (6) is connected with an oil tank through the two electric steering pumps, the output ends of the two steering pump controllers are respectively connected with the input ends of the two electric steering pumps, one steering pump controller is connected with the EPS controller through a DC-DC converter, and the output end of the other steering pump controller is connected with the input ends of the whole vehicle controller and the steering controller (3);
the front axle electric steering system comprises two first axle knuckle arms (8), two first axle transverse tie rods (9), a first axle left swing arm (10), a first axle middle connecting rod (11), a second axle connecting rod (12), a first axle power cylinder (13), two power cylinder rocker arms (14), two power cylinder driving upright columns (15), a second axle left swing arm (16), two second axle transverse tie rods (17), two second axle knuckle arms (18), a second axle power cylinder (33), a second axle right swing arm (34), a first axle right swing arm (35), a second axle middle connecting rod (36) and two power cylinder driven upright columns (37), the other end of the transmission pull rod (7) is connected with the middle part of the first axle middle connecting rod (11), the two ends of the first axle middle connecting rod (11) are respectively and symmetrically connected with the middle parts of the first axle left swing arm (10) and the first axle right swing arm (35), one end of the first axle left swing arm (10) is connected with one first axle transverse tie rod (9), the other end of the first bridge transverse pull rod (9) is connected with a first bridge knuckle arm (8), the other first bridge transverse pull rod (9) and the first bridge knuckle arm (8) are symmetrically arranged at one end of a first bridge right swing arm (35), the power cylinder driven upright post (37) is arranged on the top surface of the other end of the first bridge left swing arm (10), the other end of the first bridge left swing arm (10) is connected with one end of a second bridge connecting rod (12), the other end of the second bridge connecting rod (12) is connected with one end of a second bridge left rocker arm (16), the power cylinder driving upright post (15) is arranged on the top surface of one end of the second bridge left rocker arm (16), the power cylinder rocker arm (14) is arranged on the top surface of the power cylinder driving upright post (15), the other end of the power cylinder rocker arm (14) is connected with the telescopic rod of the first bridge power cylinder (13), and the base of the first bridge power cylinder (13) is arranged on the top surface of the first bridge left swing arm (10), the other end of the two-bridge left rocker arm (16) is connected with one end of a two-bridge cross rod (17), the other end of the two-bridge cross rod (17) is connected with a two-bridge knuckle arm (18), the middle part of the two-bridge left rocker arm (16) is connected with one end of a two-bridge middle connecting rod (36), the other end of the two-bridge middle connecting rod (36) is connected with the middle part of a two-bridge right swing arm (34), the other two-bridge cross rod (17) and the two-bridge knuckle arm (18) are symmetrically arranged at one end of the two-bridge right swing arm (34), the other power cylinder driven upright post (37) is arranged on the top surface of the other end of the two-bridge right swing arm (34), the base of the two-bridge power cylinder (33) is arranged on the top surface of the two-bridge right swing arm (34), the expansion rod of the two-bridge power cylinder (33) is connected with one end of the other power cylinder rocker arm (14), and the other power cylinder rocker arm (14) is arranged on the top surface of the other power cylinder driving upright post (15), the other power cylinder driving upright post (15) is arranged on the top surface of the other end of the one-axle right swing arm (35), the other ends of the two one-axle knuckle arms (8) and the two-axle knuckle arms (18) are connected with front wheels of a vehicle, and the one-axle power cylinder (13) and the two-axle power cylinder (33) are connected with an oil tank through a double-loop power steering gear (6);
the rear axle electric steering system comprises two three-axle knuckle arms (19), two three-axle tie rods (20), a three-axle left swing arm (21), two electric cylinder driving columns (22), two four-axle tie rods (23), two four-axle knuckle arms (24), a four-axle left rocker arm (25), a four-axle middle connecting rod (26), a three-axle middle connecting rod (27), a four-axle right swing arm (28), two electric cylinder rocker arms (29), two electric cylinders (30), an electric cylinder driven column (31) and a three-axle right swing arm (32), wherein two ends of the three-axle middle connecting rod (27) are respectively connected with the middle parts of the three-axle left swing arm (21) and the three-axle right swing arm (32), one end of the three-axle left swing arm (21) is connected with one end of one three-axle tie rod (20), the other end of one three-axle tie rod (20) is connected with one end of one three-axle knuckle arm (19), and the other three-axle knuckle arm (19) and the three-axle tie rods (20) are symmetrically arranged on the three-axle right swing arm (32) ) The one end of the three-axle left swing arm (21), the one end of the one electric cylinder swing arm (29) is arranged on the top surface of the other end of the one electric cylinder swing arm (22), the other end of the one electric cylinder swing arm (29) is connected with the contraction rod of the one electric cylinder (30), the base of the one electric cylinder (30) is arranged on the top surface of the four-axle left swing arm (25), the middle part of the bottom surface of the four-axle left swing arm (25) is connected with one end of the four-axle middle connecting rod (26), the other end of the four-axle middle connecting rod (26) is connected with the middle part of the bottom surface of the four-axle right swing arm (28), the other electric cylinder driving upright (22) is arranged on the top surface of one end of the four-axle right swing arm (28), the other electric cylinder swing arm (29) is arranged on the top surface of the other electric cylinder driving upright (22), the other end of the other electric cylinder rocker arm (29) is connected with an expansion link of the other electric cylinder (30), a base of the other electric cylinder (30) is arranged in the middle of the top surface of the three-bridge right swing arm (32), the electric cylinder driven upright post (31) is arranged at one end of the top surface of the three-bridge right swing arm (32), one end of the four-bridge left rocker arm (25) is connected with one end of a four-bridge cross-pull rod (23), the other end of the four-bridge cross-pull rod (23) is connected with one end of a four-bridge knuckle arm (24), the other four-bridge cross-pull rod (23) and the four-bridge knuckle arm (24) are symmetrically arranged at the other end of the four-bridge right swing arm (28), and the other ends of the two three-bridge knuckle arms (19) and the two four-bridge knuckle arms (24) are connected with a rear wheel of the vehicle;
the rear axle electric steering system further comprises two electric cylinder controllers and two motors, the two electric cylinder controllers are electrically connected with the two steering pump controllers and the two motors, the two electric cylinder controllers are in communication connection with the steering controller (3), and output shafts of the two motors are respectively connected with rear wheels of a vehicle.
2. The multi-axle vehicle steering system capable of realizing switching between manual steering and steer-by-wire according to claim 1, wherein: and a power-off brake and a torque sensor are further arranged at the joint of the worm gear and worm speed reducing mechanism of the CEPS steering column (2) and the three-phase brushless motor, and the power-off brake and the torque sensor are electrically connected with the EPS controller.
3. The multi-axle vehicle steering system capable of realizing switching between manual steering and steer-by-wire according to claim 1, wherein: and output shafts of two motors in the rear axle electric steering system and a rear wheel connecting shaft of the vehicle are respectively provided with a rotation sensor and a power-off brake, and the rotation sensors and the power-off brakes are electrically connected with the steering controller (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121027182.3U CN215284966U (en) | 2021-05-11 | 2021-05-11 | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121027182.3U CN215284966U (en) | 2021-05-11 | 2021-05-11 | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215284966U true CN215284966U (en) | 2021-12-24 |
Family
ID=79540255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121027182.3U Expired - Fee Related CN215284966U (en) | 2021-05-11 | 2021-05-11 | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215284966U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670917A (en) * | 2022-04-14 | 2022-06-28 | 山东蓬翔汽车有限公司 | Manual and wire-controlled double-control steering system for vehicle and control method thereof |
| CN115214769A (en) * | 2022-09-20 | 2022-10-21 | 质子汽车科技有限公司 | Electric power steering apparatus and vehicle |
-
2021
- 2021-05-11 CN CN202121027182.3U patent/CN215284966U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670917A (en) * | 2022-04-14 | 2022-06-28 | 山东蓬翔汽车有限公司 | Manual and wire-controlled double-control steering system for vehicle and control method thereof |
| CN114670917B (en) * | 2022-04-14 | 2024-04-05 | 山东蓬翔汽车有限公司 | Manual and wire-control double-control steering system for vehicle and control method thereof |
| CN115214769A (en) * | 2022-09-20 | 2022-10-21 | 质子汽车科技有限公司 | Electric power steering apparatus and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111152835B (en) | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method | |
| CN110001765B (en) | Vehicular steer-by-wire device with redundant mechanism and control method | |
| CN109291991B (en) | Dual-motor drive-by-wire composite steering system and control method thereof | |
| CN215284966U (en) | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching | |
| CN107792168B (en) | Sleeve motor steer-by-wire device and control method | |
| CN105416392B (en) | A kind of push-down composite turning system and its mode switch control method | |
| CN105667580A (en) | Steering-by-wire system based on fuzzy control and control method thereof | |
| CN104401388A (en) | Intelligent electro-hydraulic steering system | |
| CN114524019A (en) | Double-winding double-motor steer-by-wire system of commercial vehicle and control method thereof | |
| CN112141207A (en) | Electro-hydraulic power-assisted steering system and crane | |
| CN101695935A (en) | Active steering system combined with electrical power-assisted steering function and control method thereof | |
| CN113212542B (en) | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof | |
| CN105253192A (en) | Automobile electric hydraulic power steering system control method | |
| CN113928412B (en) | Electro-hydraulic composite steering system and electro-hydraulic decoupling control method | |
| CN113212543B (en) | Variable transmission ratio circulating ball type electro-hydraulic steering system and control method thereof | |
| CN113335371B (en) | Multifunctional electric circulating ball steering system of commercial vehicle and control method thereof | |
| CN103496396A (en) | Novel energy-saving differential power-assisted steering system of electric wheel automobile and control method thereof | |
| CN201580431U (en) | Electric control and electric four-wheeled steering (4WS) device of electric vehicle | |
| CN102632921B (en) | Electric drive pusher type steering system controlled by coupling force and displacement and control method | |
| CN108891480A (en) | A kind of electro-hydraulic power-assisted coupling steering system of fuel oil car | |
| CN209739147U (en) | Multi-mode power-assisted steering system based on steer-by-wire | |
| CN114379643A (en) | Electro-hydraulic steering gear with emergency steering function and matching method thereof | |
| CN112550445B (en) | Hydraulic power-assisted steering system | |
| CN205149964U (en) | Electronic power assisted steering device of EPS of positive function is initiatively returned in area | |
| CN108945097B (en) | Electric wire control steering system |
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: 20211224 |