JP2551583B2 - Running wheel operation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention mainly relates to a traveling wheel operation device used in an automobile represented by a passenger car and a truck.

[Conventional technology]

As a conventional vehicle wheel operation device, steering operation is performed by driving a steering device with a steering wheel, and braking operation is performed in conjunction with a known brake operation of a brake operation tool represented by a brake pedal. It is known that brakes are applied to the running tire wheels by rolling resistance by braking the rotation of the running tire wheels with a disc brake.

[Problems to be Solved by the Invention]

However, when using the conventional device, when the brake pedal is strongly depressed and an excessive braking force acts on the rotation of the tire wheels for traveling, or a wet road surface or a gravel road, a snow road, a muddy land, or the like, When running on a road surface with a low coefficient of friction,
When the brake pedal is depressed in the same way as when driving on a normal road surface such as asphalt road surface, the braking force of the drum brake or disc brake overcomes the frictional force with the tire wheels for running, and the rotation of the tire wheels for running stops. So-called wheel locks occur. When this wheel lock occurs,
Braking performance is extremely deteriorated due to slipping of the tire wheels for running, a long braking distance, an unstable posture of the vehicle, and the like.

Therefore, in order to prevent the braking force of the drum brakes and disc brakes from exceeding the frictional force between the tire wheels for running and the road surface, control of the frictional force at the drum brakes and disbrakes is called ABS (anti-brake lock system). A technique of automatically controlling by a system to prevent wheel lock and braking while rotating a tire wheel for traveling has been proposed and partially implemented. However, in this case, because the frictional force between the tire wheels for traveling and the road surface is different depending on the road surface condition such as the type and condition of the road surface,
Especially when the road surface changes like a car,
Automatic control of drum brakes and disc brakes becomes very difficult, and advanced control is required.

In short, in the past, since braking was applied to the traveling by braking the rotation of the tire wheels for traveling, braking failure such as slip cannot be avoided,
Or, because of that, braking control became difficult.

Further, depending on the traveling direction of the vehicle body and the condition of the road surface, side slippage of the wheels may occur, and it has been impossible to control the side slip only by conventional braking for rotation.

The present invention focuses on such a situation, and an object thereof is to provide a traveling wheel operation device that does not cause a braking failure such as slippage, can prevent side slip of wheels, and is easy to control.

[Means for solving the problem]

The technical means of the traveling wheel operating device according to the present invention, which has been devised to achieve the above object, includes [1] a detecting means for detecting a steering wheel operation amount of a steering handle and a brake for detecting an operation of a brake operating tool toward a brake side. The operation detecting means and the side slip amount detecting means for detecting the side slip of the moving body are provided, and [2] the steering handle is operated by linking the knuckle arms of the left and right traveling wheels with the steering handle. In accordance with the above, an operating device for steering the wheels is provided, and the operating device is provided with a steering amount correcting mechanism capable of individually correcting the steering amount of each wheel by the steering handle, and [3] A control command device for outputting an operation command to the steering amount correcting mechanism based on the detection result of each of the above-mentioned detection means is provided, and [4] In addition, [4-1] the control command device is required to perform a brake operation by steering the left and right traveling wheels in opposite directions by the same amount based on the detection result of the brake operation detecting means. A steering amount calculation means for brake for calculating the operation amount of the steering amount correction mechanism, and [4-2] a detection result of the steering wheel operation amount detection means and a side slip amount detection result of the side slip amount detection means. Based on, the steering amount of the left and right traveling wheels, the skid correction amount calculation means for calculating the operation amount of the steering amount correction mechanism required to steer to the side that reduces the lateral slip amount by adjusting the steering amount separately for each of the left and right wheels. [4-3] and is configured to output a control command based on the calculation result of each of the calculation means to the steering amount correction mechanism.

The points are described in the above [1] to [4].

[Work]

The effect of taking the above technical means is as follows.

As shown in FIG. 2, when a traveling tire wheel is operated to steer, a lateral force in the Y-axis direction along the tire wheel is applied to the tire wheel. The cornering force (Fyl), which is the lateral force at the time of, is applied, and this cornering force (Fyl)
When the tire internal pressure and load are determined, as shown in FIG. 3, the steering slip, that is, the side slip angle (α) of the tire wheel with respect to the traveling direction, becomes the side slip angle (α) in the range of 0 to 5 °. Proportional. As a result, in the range of 0 <α <5 ° between the driving force (Fx) in the X-axis direction along the wheel rotation acting on the tire wheel on the road surface and the force (Fxl) in the traveling direction, Fxl = Fxcos α-Fylsin α holds, and the force Fxl (1-cos α) + Fylcosα acts in the direction opposite to the traveling direction. That is, the brake is applied.

By steering the running tire wheels in this way, it is possible to apply rolling resistance to the running tire wheels for braking without braking the rotation of the running tire wheels.

Then, according to the traveling wheel operating device of the present invention, based on the above-described principle, the left and right traveling tire wheels are steered by the braking operation in the opposite directions with the same amount. Since the cornering forces of the same size are generated in opposite directions to each other, equal rolling resistance should be given to both wheels in a state where the steering forces to the left and right by the cornering forces acting on each wheel are canceled by each other. You can

Moreover, since the cornering force can be adjusted by adjusting the steering amount of the left and right wheels, that is, the side slip angle (α), the rolling resistance given to the left and right wheels is
It can be adjusted by the steering amount without applying the braking force to the wheels. In other words, the lateral slip of the left and right wheels can be prevented by controlling the lateral slip angles (α) of the left and right wheels separately based on the detection result of the lateral slip detection means.

〔The invention's effect〕

As a result, even when the brake is suddenly operated, or even when the friction coefficient of the road surface is low, the wheels are not locked, and the traveling direction is not changed regardless of the steering operation of the wheels, You can now apply the brakes.

Further, even when the left and right wheels are subjected to side slip, braking can be performed in a state in which the side slip is prevented.

In addition, it is possible to provide a traveling wheel operation device that can relatively easily perform the control for that purpose based on the detection results of the steering amount detection means, the brake operation detection means, and the side slip amount detection means.

〔Example〕

 Next, examples of the present invention will be described.

As shown in FIG. 1, a pair of left and right front wheels (1A), (1B) for steering and traveling, and a pair of left and right rear wheels (2A) for traveling,
(2B) is a traveling wheel operating device for an automobile, comprising front wheels (1A), (1B) which are steered by a steering wheel (6), brake wheels (A),
(B), a brake pedal (3) (an example of a brake operating tool) is provided, and the front wheel (1) is linked with the brake operation of the brake pedal (3).
It is configured so that A) and (1B) are steered separately for each side slip angle (α) in the range of 0 to 5 °.

Specifically, the knuckle arms (5A), (5B) of the left and right front wheels (1A), (1B) and the steering handle (6) are linked to each other, and the steering handle (6) is provided. (4) for steering and operating the front wheels (1A), (1B) in accordance with the operation of (1), and the operating device (4)
And a control device for controlling the.

The operating device (4) is supplied with hydraulic pressure to a tie rod (7) that causes the knuckle arms (5A) and (5B) of the front wheels (1A) and (1B) to work together in accordance with the operation of the handle (6). By doing so, a single-acting hydraulic cylinder (8A) that operates so as to swing each of the knuckle arms (5A) and (5B) to the toe-in increasing side against the biasing force of its built-in spring (not shown). ), (8B) (an example of a steering amount correction mechanism), and its hydraulic cylinders (8A), (8B)
On the other hand, operation valves (12B) and (12B) for controlling the supply of pressure oil from the hydraulic pump (P) are provided. Then, an oil amount corresponding to the brake operation amount operated by the brake pedal (3) is operated by operating a hydraulic control valve (12A), (12B) controlled by a control device which will be described later, and a hydraulic pressure supply path (10A). , (10B) through the hydraulic cylinder (8
It is configured to supply A) and (8B).

That is, when the brake pedal (3) operates toward the brake side, the hydraulic control valves (12A), (12
By operating the hydraulic cylinders (8A), (8B) to the brake side by the operation of B), the hydraulic cylinders (8A), (8B),
Left and right front wheels (1A), (1B) as driving force by the force of (8B)
When the brake pedal (3) is operated to the brake release side while the steering wheel is operated to increase the toe-in side, the hydraulic cylinders (8A) and (8B) are operated by the operation of the hydraulic control valves (12A) and (12B) in response to the operation. While operating the brake release side,
The front wheels (1A), (1B) that have been steered to the toe-in side are steered to the opposite side by using the self-aligning torque acting on the front wheels (1A), (1B) itself as a driving force. Accordingly, the left and right front wheels (1A), (1B) are steered in a steering posture according to the operation position of the brake pedal (3).

Further, the control device includes a brake sensor (13) as a brake operation detecting means for detecting the operation amount of the brake pedal (3) and a steering amount detecting sensor (as a means for detecting the steering amount of the steering handle (6) ( 9) and a side slip amount detecting sensor (16) as a side slip amount detecting means for detecting the side slip of the moving body, and based on the detection operation of each of the sensors (13), (9), (16). A control command device (15) that outputs an operation command to the operation device (4) is provided.

The control command device (15) is composed of a microcomputer, and has left and right traveling wheels (A) and (B) in its internal memory based on the detection result of the brake operation detecting means (13). The hydraulic cylinders (8) necessary to operate the brakes by operating the same amount in opposite directions
A), (8B) operation amount calculation means for brake (101) for calculating the operation amount, and the steering wheel operation amount detection means (9)
Based on the detection result of the horizontal slip amount and the result of the side slip amount detected by the side slip amount detecting means (16), the steering amount of the left and right traveling wheels (A) and (B) is adjusted to the left and right, and the side slip is adjusted. And a skid correction amount calculation means (102) for calculating the operation amount of the hydraulic cylinders (8A), (8B) required to steer to the side that reduces the amount, and the respective calculation means (100). ), (101) and (102), the control command based on the calculation result is output to the hydraulic cylinders (8A) and (8B) of the operating device (4).

This corresponds to the steering operation amount of the steering wheel (6) based on the detection information of the sensor (9) that detects the steering amount of the steering wheel (6) and the detection information of the brake sensor (13). Front wheel (1A), (1
With reference to the steering position of B), the front wheels (1A), (1B) are further steered from the steering position with an operation amount corresponding to the operation amount of the brake pedal (3), and the amount of side slip is Based on the detection result of the side slip amount by the detection sensor (16), the steering amounts of the left and right traveling wheels (A) and (B) are further adjusted to the left and right sides to be corrected to the side for reducing the side slip amount. The hydraulic cylinders (11A), (1
The control command for the drive circuits (14A) and (14B) of 1B) is output.

That is, the sensor (16) for detecting the side slip and the sensor (9) for detecting the steering amount of the steering wheel (6).
The control command device (15) consisting of a microcomputer is input with the detection information of and, and the operation information based on the brake sensor (13) from the microcomputer to the drive circuits (14A) and (14B) is corrected, and when traveling straight ahead. The steering wheel (6) is operated to steer the front wheels (1A) and (1B) to prevent skidding during non-braking, such as during steering, and when braking from them, the front wheels (1A) and (1B) Steer 1B) to prevent skidding and to brake.

Of course, front wheels (1A), (1
The steering mode of B) includes a mode in which only one of the front wheels (1A) and (1B) is steered and a mode in which both are steered. In the latter mode, the front wheel (1A) ) And (1B) are steered in the same direction. As a result, when braking with side slip, the front wheels (1A) and (1B) are not always steering to the toe-in side or toe-out side in order to prevent the side slip, and the steering amount is also different. It will be a good thing.

A well-known sensor such as an accelerometer or a gyro may be used as the sensor (16) for detecting the side slip, which is used to determine the side slip amount from the correlation between the traveling direction of the moving body and the steering direction. is there.

Therefore, the traveling brake device has a brake pedal (3).
By steering the left and right front wheels (1A) and (1B) to the toe-in increasing side by the operation of the brake side, the left and right front wheels (1A) and (1B) are opposite in direction and equal in size. The cornering force (Fyl) is applied to reduce the force (F) in the traveling direction with respect to the driving force (Fx) in the X-axis direction along the rotation surfaces of the left and right front wheels (1A), (1B). That is, it is configured to generate a braking force. Of course, as shown in FIG. 3, when the sideslip angle (α) is in the range of 0 ° to 5 °, the cornering force (Fy
l) and (Fy2) are proportional to the sideslip angle (α),
The braking force changes in proportion to the steering amount of the left and right front wheels (1A) and (1B).

[Another embodiment]

 Hereinafter, another embodiment of the present invention will be shown.

[1] In the above embodiment, as indicated by the dotted line in FIG. 1, the front wheels (1A), (1B) or the rear wheels (2A) are interlocked with the operation of the brake pedal (3) toward the brake side. , (2
B) Alternatively, a friction brake (11) such as a disc brake or a drum brake that applies a braking force to the rotation of both is used together.

[2] In the above embodiment, the rear wheels (2A) and (2B) are also configured to be steerable, and both the rear wheels (2A) and (2B) are operated in response to the hydraulic control valves (12A) and (12B). The hydraulic cylinders (8A) and (8B) for running the same amount on the toe-in increasing side are provided,
Therefore, all wheels (1A), (1B), (2A), (2B) are used as brake wheels (A), (B), and all wheels (1A),
It is configured to apply the brake when traveling to the side with increased toe-in of (1B), (2A), and (2B).

[3] In the above embodiment, the front wheels (1A) and (1B) are brake wheels (A) and (B), but the brake wheels (A) and (B) are rear wheels (A). Only 2A) and (2B) may be used.

[4] In the above embodiment, the brake wheels (A),
As (B), the one in which the brake is applied by steering to the increase side of the toe-in is shown.
As the above, the brake may be applied by operating the toe-out increasing side.

[5] In the above embodiment, the camber is fixed, but the wheels (A) to the toe-in increasing side or toe-out increasing side,
The camber may be changed in a direction in which the camber thrust increases in accordance with the steering operation of (B), and the braking force may be further improved by utilizing the camber thrust.

[6] In the above embodiments, the traveling wheel operating device for an automobile is shown, but the present invention is also applicable to a traveling wheel operating device for an airplane.

[7] Further, the configuration of the operating device (4) can be changed as appropriate.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

1 is a schematic plan view showing an embodiment of the present invention, FIG. 2 is a principle view showing a force acting on a wheel, and FIG. FIG. 3 is a graph showing the relationship between the cornering force and the sideslip angle. (3) …… Brake operating tool, (4) …… Operating device, (5
A), (5B) ... Knuckle arm, (6) ... Steering handle, (8A), (8B) ... Steering amount correction mechanism,
(9) ...... Steering amount detecting means, (13) ...... Brake actuation detecting means, (15) ...... Control command device, (16) ...... Side slip amount detecting means, (101) ...... Brake steering amount calculation Means (102) ... skid correction amount calculation means, (A),
(B) …… Wheels, (α) …… Side slip angle.

Continuation of the front page (56) References JP-A-60-80915 (JP, A) JP-A-62-68161 (JP, A) actual open Sho-56-14761 (JP, U) actual open Sho-62-54067 (JP , U) Actually open 59-113273 (JP, U) Actually open 63-57195 (JP, U)

Claims (2)

(57) [Claims] 1. A detection means (9) for detecting a steering wheel operation amount of a steering wheel (6), a brake actuation detection means (13) for detecting an operation of a brake operation tool (3) toward a brake side, and a moving body. And a steering wheel (6) between the knuckle arms (5A) and (5B) of the left and right wheels (A) and (B) for traveling and the lateral slip amount detecting means (16) for detecting the lateral slip of the vehicle. And an operating device (4) for steering the wheels (A), (B) according to the operation of the steering handle (6). The operating device (4) includes the steering wheel. The steering amount correcting mechanisms (8A) and (8B) capable of individually correcting the steering amounts of the wheels (A) and (B) by the handle (6) are provided, and the steering amount correcting mechanisms (8A) and (8B) are provided. ) Operation command to each of the above detection hands A control command device (15) that outputs based on the detection results of (13), (9), and (16) is provided, and further, the control command device (15) is provided in the brake operation detection means (13). Based on the detection result, the steering amount correction mechanisms (8A) and (8B) required to perform the brake operation by steering the left and right traveling wheels (A) and (B) in opposite directions by the same amount. Based on the steering operation amount calculation means (101) for calculating the operation amount of the vehicle, the detection result of the steering wheel operation amount detection means (9) and the side slip amount detection result of the side slip amount detection means (16). The steering amount correction mechanisms (8A) and (8B) required to steer the steering amounts of the left and right traveling wheels (A) and (B) to the side that reduces the amount of side slip by adjusting the steering amount separately for each of the left and right sides.
A skid correction amount calculation means (102) for calculating the operation amount of the steering amount correction mechanism (8A), and a control command based on the calculation results of the calculation means (101), (102). (8B)
A traveling wheel operating device configured to output to. 2. A patent in which the corrected steering amount of the left and right wheels (A), (B) by the steering amount correction mechanism (8A), (8B) is in the range of 0 ° to 5 ° in terms of side slip angle (α). Claim 1st
The traveling wheel operation device according to the item.