JPH02144880U - - Google Patents
Info
- Publication number
- JPH02144880U JPH02144880U JP2020289U JP2020289U JPH02144880U JP H02144880 U JPH02144880 U JP H02144880U JP 2020289 U JP2020289 U JP 2020289U JP 2020289 U JP2020289 U JP 2020289U JP H02144880 U JPH02144880 U JP H02144880U
- Authority
- JP
- Japan
- Prior art keywords
- steering angle
- vehicle
- wheel steering
- angle
- front wheel
- 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.)
- Granted
Links
- 238000005452 bending Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims 5
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
第１図は、第１の考案の構成を示すブロツク図
、第２図は、第２の考案の構成を示すブロツク図
、第３図は、第１の考案と第２の考案との実施例
に共通するハードウエアの構成図、第４図〜第７
図は、前記第１の考案の実施例における各種制御
ルーチンを示すフローチヤート、第８図は前記第
２の考案の実施例における旋回走行時の各部の状
態を示す平面図、第９図は、同上実施例の制御ル
ーチンを示すフロートチヤート、第１０図は、従
来の連結車の操向装置の一例を示す平面図、第１
１図は、従来の連結車の操向装置の連結点におけ
る屈曲角特性を示す線図、第１２図は、同じく旋
回走行時の転舵状態を示す平面図である。
１……トラクタ、２……トレーラ、１１……ス
テアリング、１２……前輪、１３……リンク機構
、１４……操舵角センサ、１５……車速センサ、
１７……屈曲角センサ、２１……後輪、２２……
リンク機構、２３……油圧アクチユエータ、２４
……オイルポンプ、２６……サーボバルブ、２７
……転舵角センサ、３１……コントロールユニツ
ト、３４……ＣＰＵ、３６……ＲＯＭ、３７……
ＲＡＭ。
Figure 1 is a block diagram showing the configuration of the first idea, Figure 2 is a block diagram showing the configuration of the second idea, and Figure 3 is an example of the first idea and the second idea. Hardware configuration diagrams common to Figures 4 to 7
The figure is a flowchart showing various control routines in the embodiment of the first invention, FIG. 8 is a plan view showing the state of each part during cornering in the embodiment of the second invention, and FIG. FIG. 10 is a float chart showing the control routine of the above embodiment, and FIG.
FIG. 1 is a diagram showing bending angle characteristics at a connection point of a conventional steering device for a coupled vehicle, and FIG. 12 is a plan view showing a steering state during cornering. DESCRIPTION OF SYMBOLS 1... Tractor, 2... Trailer, 11... Steering, 12... Front wheel, 13... Link mechanism, 14... Steering angle sensor, 15... Vehicle speed sensor,
17... Bending angle sensor, 21... Rear wheel, 22...
Link mechanism, 23...Hydraulic actuator, 24
... Oil pump, 26 ... Servo valve, 27
...Steering angle sensor, 31...Control unit, 34...CPU, 36...ROM, 37...
RAM.
Claims (1)
機構を有する被牽引車とを屈曲自在に連結してな
る連結車において、前輪操舵角又は牽引車と被牽
引車との連結点の屈曲角の少なくとも一方を検出
する角度検出手段と、車速を検出する車速検出手
段と、検出された車速に応じて前輪操舵角又は連
結点の屈曲角と後輪転舵角との角度比を設定する
角度比設定手段と、前輪操舵角又は連結点の屈曲
角と、設定された角度比とに基づいて後輪の目標
転舵角を設定する目標転舵角設定手段と、後輪の
転舵角を設定された目標転舵角と一致させるよう
に後輪転舵機構を制御する転舵角制御手段と、を
含んで構成したことを特徴とする連結車の操向装
置。 (2) 前輪操舵機構を有する牽引車と、後輪転舵
機構を有する被牽引車とを屈曲自在に連結してな
る連結車において、前輪操舵角を検出する前輪操
舵角検出手段と、牽引車と被牽引車との連結点の
屈曲角を検出する屈曲角検出手段と、車速を検出
する車速検出手段と、検出された前輪操舵角と車
速とに基づいて牽引車の所定点の進行方向を検出
して通過位置に対応して記憶する進行方向検出手
段と、被牽引車の所定点の進行方向を当該通過位
置に対応して記憶された被牽引車の進行方向と一
致させるように該進行方向と検出された連結点の
屈曲角とに基づいて後輪の目標転舵角を設定する
目標転舵角設定手段と、後輪の転舵角を設定され
た目標転舵角と一致させるように後輪転舵機構を
制御する転舵角制御手段と、を含んで構成したこ
とを特徴とする連結車の操向装置。[Scope of Claim for Utility Model Registration] (1) In a coupled vehicle in which a towing vehicle having a front wheel steering mechanism and a towed vehicle having a rear wheel steering mechanism are flexibly connected, the front wheel steering angle or the towed vehicle and towed vehicle are angle detection means for detecting at least one of the bending angles at the connection point with the towing vehicle; vehicle speed detection means for detecting the vehicle speed; and a front wheel steering angle or a bending angle at the connection point and a rear wheel steering angle depending on the detected vehicle speed. and target steering angle setting means for setting a target steering angle of the rear wheels based on the front wheel steering angle or the bending angle of the connection point and the set angle ratio. , a steering angle control means for controlling a rear wheel steering mechanism so that the steering angle of the rear wheels matches a set target steering angle. . (2) In a coupled vehicle in which a towing vehicle having a front wheel steering mechanism and a towed vehicle having a rear wheel steering mechanism are flexibly connected, a front wheel steering angle detection means for detecting a front wheel steering angle; Bending angle detection means for detecting a bending angle at a connection point with the towed vehicle, vehicle speed detection means for detecting vehicle speed, and detecting the traveling direction of the towed vehicle at a predetermined point based on the detected front wheel steering angle and vehicle speed. a traveling direction detecting means for storing the traveling direction corresponding to the passing position; target steering angle setting means for setting a target steering angle of the rear wheels based on the detected bending angle of the connecting point; A steering device for a coupled vehicle, comprising: steering angle control means for controlling a rear wheel steering mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020289U JPH0635864Y2 (en) | 1989-02-27 | 1989-02-27 | Steering device for articulated vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020289U JPH0635864Y2 (en) | 1989-02-27 | 1989-02-27 | Steering device for articulated vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02144880U true JPH02144880U (en) | 1990-12-07 |
| JPH0635864Y2 JPH0635864Y2 (en) | 1994-09-21 |
Family
ID=31523299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2020289U Expired - Lifetime JPH0635864Y2 (en) | 1989-02-27 | 1989-02-27 | Steering device for articulated vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0635864Y2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072649A1 (en) * | 2016-10-19 | 2018-04-26 | 中车株洲电力机车研究所有限公司 | Following control method for train track, system and train |
| JP2018514431A (en) * | 2015-03-04 | 2018-06-07 | 鄭州机械研究所有限公司 | Automobile, one-wheel / two-wheel trackless train and corresponding tracking steering control method |
| WO2023223837A1 (en) * | 2022-05-20 | 2023-11-23 | 株式会社ジェイテクト | Control device for coupled vehicle, control method for coupled vehicle, and control program for coupled vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4754088B2 (en) * | 2001-05-01 | 2011-08-24 | 本田技研工業株式会社 | Front and rear wheel steering car |
-
1989
- 1989-02-27 JP JP2020289U patent/JPH0635864Y2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018514431A (en) * | 2015-03-04 | 2018-06-07 | 鄭州机械研究所有限公司 | Automobile, one-wheel / two-wheel trackless train and corresponding tracking steering control method |
| WO2018072649A1 (en) * | 2016-10-19 | 2018-04-26 | 中车株洲电力机车研究所有限公司 | Following control method for train track, system and train |
| WO2023223837A1 (en) * | 2022-05-20 | 2023-11-23 | 株式会社ジェイテクト | Control device for coupled vehicle, control method for coupled vehicle, and control program for coupled vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0635864Y2 (en) | 1994-09-21 |
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