KR20110054559A - Independent steer-by-wire steering apparatus for automobile - Google Patents

Independent steer-by-wire steering apparatus for automobile Download PDF

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Publication number
KR20110054559A
KR20110054559A KR1020090111253A KR20090111253A KR20110054559A KR 20110054559 A KR20110054559 A KR 20110054559A KR 1020090111253 A KR1020090111253 A KR 1020090111253A KR 20090111253 A KR20090111253 A KR 20090111253A KR 20110054559 A KR20110054559 A KR 20110054559A
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South Korea
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rod
actuator
vehicle
steering
coupled
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KR1020090111253A
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Korean (ko)
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KR101042401B1 (en
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한민우
황성욱
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/20—Links, e.g. track rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/40—Actuators for moving a controlled member
    • B60Y2400/405—Electric motors actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/40—Actuators for moving a controlled member
    • B60Y2400/418—Power assistance, e.g. servo-motors
    • B60Y2400/4187—Servo-motors, e.g. electric or fluidic with feedback control

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

PURPOSE: An independent steer-by-wire steering apparatus for vehicles is provided to reduce installation area since two actuators support each other. CONSTITUTION: An independent steer-by-wire steering apparatus for vehicles comprises a steering knuckle(2), a first rod(30), a second rod(40), a first actuator(10), and a second actuator(20). The steering knuckle is coupled with the inner side of a rod wheel(1). One end of the first rod is coupled with one side of the steering knuckle, and the other side is coupled toward the inside of the vehicle. One end of the second rod is coupled with the other side of the steering knuckle. The first rod and the second rod move in opposite directions to each other. The first actuator transfers the first rod along the longitudinal direction. The second actuator transfers the second rod along the longitudinal direction.

Description

차량의 독립형 ＳＢＷ 조향 장치{Independent steer-by-wire steering apparatus for automobile}Independent steer-by-wire steering apparatus for automobile

본 발명은 차량의 조향 장치에 관한 것으로 더욱 상세하게는 좌우 독립형 SBW(Steer-by-wire) 조향 시스템에 있어, 종래의 링크 구조를 삭제하고 엑추에이터가 로드휠을 더욱 효율적으로 회전시키는 조향 장치에 관한 것이다.The present invention relates to a steering apparatus of a vehicle, and more particularly, to a steering apparatus in which left and right independent steer-by-wire steering systems eliminate a conventional link structure and allow an actuator to rotate a road wheel more efficiently. .

SBW 조향 시스템은 스티어링휠과 로드휠이 기계적 연결없이 전기적인 동력에 의하여 조향하는 시스템이다.SBW steering system is a system in which the steering wheel and the road wheel are driven by electric power without mechanical connection.

상기 SBW 조향 시스템은 일체형과 좌우독립형으로 구분된다. 일체형은 하나의 기어박스를 이용하여 좌측과 우측의 로드휠을 동시에 조향시키며, 좌우독립형은 양측이 독립적으로 조향되는 것을 특징으로 한다.The SBW steering system is divided into an integrated type and a left and right independent type. The integral type simultaneously steers the left and right road wheels using one gearbox, and the left and right independent types are characterized in that both sides are independently steered.

종래의 (좌우) 독립형 SBW 조향 시스템에서, 차량의 스티어링휠은 운전자가 회전시 토크를 느낄 수 있도록 일측에 반력모터가 결합된 조향컬럼에 결합되고, 상기 조향컬럼의 회전각도는 ECU 에 의해 감지된다. 도 1 을 참조하면, 상기 ECU(6) 는 감지된 신호에 따라 좌측와 우측의 로드휠(1)에 연결된 엑추에이터(5)를 회전시 키며, 상기 엑추에이터(5)는 피스톤의 전진 후진에 따라 제어레버(4)를 회전시킨다. 상기 제어레버(4)는 "L" 자형상으로서 절곡된 지점에서 차량에 힌지결합된 상태로서 일단은 상기 엑추에이터(5)의 피스톤에 연결되고 타단은 로드휠(1)에 장착된 조향너클에(2)에 타이로드(3)를 통하여 연결된다. In the conventional (left and right) independent SBW steering system, the steering wheel of the vehicle is coupled to a steering column coupled to a reaction force motor on one side so that the driver feels torque when turning, and the rotation angle of the steering column is detected by the ECU. . Referring to FIG. 1, the ECU 6 rotates an actuator 5 connected to the left and right road wheels 1 according to the sensed signal, and the actuator 5 controls the control lever according to the forward and backward movement of the piston. 4) Rotate The control lever 4 is hinged to the vehicle at a point bent as an "L" shape, one end of which is connected to the piston of the actuator 5 and the other end of which is connected to a steering knuckle mounted on the road wheel 1 (2). Is connected via a tie rod (3).

따라서, 좌우의 로드휠(1)들 연결된 엑추에이터(5)의 피스톤 운동에 따라 개별적으로 조향된다. Thus, the left and right road wheels 1 are individually steered according to the piston movement of the connected actuator 5.

한편, 조향컬럼에 결합된 반력모터는 반력ECU의 제어에 의한 모터의 토크제어를 통하여 차량의 속도에 따라 종래의 유압식 조향장치와 유사한 조향 반력감을 생성한다. On the other hand, the reaction force motor coupled to the steering column generates a steering reaction force similar to the conventional hydraulic steering device according to the speed of the vehicle through the torque control of the motor by the control of the reaction force ECU.

그리고, SBW 조향 시스템은 전기자동차, 또는 수소자동차 등과 같이 전기를 구동원으로 사용하는 차량에 주로 탑재될 목적으로 개발된 것으로 상기 엑추에이터는 감속기어가 포함된 전기모터로 구성되는 것이 일반적이다.In addition, the SBW steering system was developed for the purpose of being mainly mounted on a vehicle using electricity as a driving source, such as an electric vehicle or a hydrogen vehicle. The actuator is generally composed of an electric motor including a reduction gear.

하지만, 상기와 같은 종래의 구성은 제어레버의 회전반경만큼 차량의 레이아웃과 간섭이 발생하는 문제점이 있었다. 또한 상기 제어레버는 힘의 방향만을 전환하는 기능을 하므로 엑추에이터 모터의 컴팩트화에 어려움이 있었다.However, the conventional configuration as described above has a problem in that interference with the layout of the vehicle occurs as much as the rotation radius of the control lever. In addition, the control lever has a function of switching only the direction of the force, there was a difficulty in compacting the actuator motor.

또한, 상기 제어레버는 엑추에이터의 힘을 1:1 로 전달하는 수준이며 각 끝단이 원호 운동하므로 타이로드로 효과적으로 힘이 전달되지 못한 문제점이 있었다. 그리고, 로드휠에 작용하는 외력에 의한 역전을 방지하도록 별도의 장치가 더 필요하였으며, 상기와 같은 외력에 의해 직진 안정성이 좋지 않은 문제점이 있었다.In addition, the control lever is a level to transfer the force of the actuator in a 1: 1 and each end has a problem in that the force is not effectively transmitted to the tie rod because the circular motion. In addition, a separate device was further required to prevent reversal by external force acting on the road wheel, and there was a problem in that the straight stability was not good due to the external force as described above.

따라서, 본 발명은 상기와 같은 문제점을 해소하며 엑추에이터의 동력 전달의 효율성을 더욱 향상시킨 독립형 SBW 조향 시스템용 제어레버 장치를 제공하는 것을 주목적으로 한다.Accordingly, the present invention is to provide a control lever device for a stand-alone SBW steering system that solves the above problems and further improves the efficiency of power transmission of the actuator.

상기와 같은 목적을 달성하기 위한 본 발명은, 차량의 독립형 SBW 조향 장치에 있어서, 로드휠의 내측면에서 결합되며 지면과 수평을 이루고 차체에 회전가능하도록 장착된 조향너클;과 일단은 상기 조향너클의 일측에서 결합되고 타단은 차량의 내측을 향하도록 결합된 제1로드;와 일단은 상기 조향너클의 타측에서 결합되고 타단은 차량의 내측을 향하도록 결합된 제2로드;와 상기 제1로드를 길이방향을 따라 이동시키는 제1엑추에이터; 및 상기 제2로드를 길이방향을 따라 이동시키는 제2엑추에이터;를 포함하고, 상기 제1로드와 제2로드가 서로의 반대방향으로 이동함에 따라 상기 조향너클이 회전하여 로드휠이 선회하는 것을 특징으로 한다.The present invention for achieving the above object, in the independent SBW steering apparatus of the vehicle, a steering knuckle coupled to the inner side of the road wheel and horizontally mounted on the ground and rotatably mounted on the vehicle body; and one end of the steering knuckle; A first rod coupled at one side and coupled to the other end toward the inside of the vehicle; and a second rod coupled at one end to the other side of the steering knuckle and coupled to the other end toward the inside of the vehicle; and length of the first rod A first actuator moving along the direction; And a second actuator for moving the second rod along a longitudinal direction, wherein the steering knuckle rotates as the first rod and the second rod move in opposite directions. do.

상기 제1엑추에이터와 제2엑추에이터는 각각 피니온기어(pinion gear)가 결합된 모터로 구성되고, 상기 제1로드와 제2로드는 각각 상기 제1엑추에이터와 제2엑추에이터의 피니온기어에 치합하여 활주하도록 외주면에 기어이(gear tooth)가 길이방향을 따라 형성된 랙(rack)으로 구성된다.The first actuator and the second actuator are each composed of a motor having a pinion gear coupled thereto, and the first rod and the second rod are engaged with the pinion gears of the first actuator and the second actuator, respectively. Gears (gear tooth) on the outer circumferential surface to slide is composed of a rack formed along the longitudinal direction.

상기 제1엑추에이터와 제2엑추에이터를 구성하는 각각의 모터들은 차체에 고정된 브라켓에 안착되고, 모터의 회전자(rotor)가 아래를 향하도록 장착되는 것을 특징으로 한다.Each of the motors constituting the first actuator and the second actuator is mounted on a bracket fixed to the vehicle body, and the rotor of the motor is mounted to face downward.

그리고, 상기 제1로드와 제2로드는 조향너클과 수직을 이루며 서로 평행하게 배치되는 것을 특징으로 한다.The first rod and the second rod are perpendicular to the steering knuckle and are disposed in parallel to each other.

상기와 같은 본 발명은, 두 개의 엑추에이터가 서로를 보조하도록 구성되므로 더 작은 용량의 엑추에이터로 구성될 수 있으며, 설치면적을 축소할 수 있는 효과가 있다.The present invention as described above, because the two actuators are configured to assist each other can be composed of actuators of a smaller capacity, there is an effect that can reduce the installation area.

아울러, 종래의 링크장치를 삭제하고 상대적으로 구성이 단순한 랙 ＆ 피니온 구조로 구성되므로 생산원가 절감의 효과가 있다. In addition, since the conventional link device is deleted, the rack & pinion structure having a relatively simple configuration can reduce production cost.

종래의 회전운동을 직선운동으로 전달하는 구조이므로 엑추에이터의 동력 전 달 효율을 더욱 증가시키며 두 개의 엑추에이터 작동에 의해 차량의 직진 안정성을 향상시키는 효과가 있다. Since the structure of the conventional rotational movement to transmit the linear movement further increases the power transmission efficiency of the actuator and has the effect of improving the linear stability of the vehicle by operating two actuators.

이하, 도면을 참조하여 본 발명의 바람직한 실시예를 더욱 상세히 설명한다.Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention in more detail.

도 2 는 본 발명에 따른 SBW 조향 장치의 구성모습을 개략적으로 도시한 모식도이다. 도 2 를 참조하면, 로드휠(1)의 내측면에는 지면과 수평을 이루도록 조향너클(2)이 장착된다. 상기 조향너클(2)은 로드휠(1)과 함께 선회하여 차량의 조타(steering)가 가능하도록 차체에 장착되며, 도시된 바와 같이 서스펜션(suspension) 시스템의 일부인 스트럿(strut)(60) 등과 체결된다.2 is a schematic diagram schematically showing the configuration of the SBW steering apparatus according to the present invention. Referring to FIG. 2, a steering knuckle 2 is mounted on the inner surface of the rod wheel 1 to be horizontal to the ground. The steering knuckle 2 is pivoted together with the road wheel 1 to be mounted on the vehicle body to enable steering of the vehicle, and is engaged with a strut 60 which is a part of a suspension system as shown. .

상기 조향너클(2)은 일측과 타측에서 제1로드(30)와 제2로드(40)가 차량의 내측(다른측의 로드휠을 향하는 방향)을 향하도록 결합된다. 상기 제1로드(30)와 제2로드(40)는 각각 외주면의 일측으로는 기어이(gear tooth)가 길이방향을 따라 형성된다. The steering knuckle 2 is coupled so that the first rod 30 and the second rod 40 face the inside of the vehicle (the direction toward the road wheel on the other side) on one side and the other side. Each of the first rod 30 and the second rod 40 has a gear tooth formed along one side of the outer circumferential surface thereof in the longitudinal direction.

도 2 와 도 3 에 도시된 바와 같이, 상기 제1로드(30)와 제2로드(40)는 차량의 설계요건에 따라 기어이가 서로 마주하도록 안쪽을 향하거나 바깥쪽을 향하여 형성될 수 있으나, 브라켓(50)에 안착되어 상측에 배치된 제1엑추에이터(10)와 제2엑추에이터(20)의 각 끝단에 결합된 각각의 피니온기어(11, 21)들에 맞물릴 수 있도록 구성된다. 상기 제1엑추에이터(10)와 제2엑추에이터(20)는 전기를 동력으로 하는 모터로 구성되며, 조향너클(2)의 측면에서 서로 평행하게 지면에 수직으로 배 치된다. 따라서, 상기 제1로드(30)와 제2로드(40)는 제1엑추에이터(10) 및 제2엑추에이터(20)와는 각각 랙 ＆ 피니온 방식으로 결합된다. 물론, 모터의 특성 및 속도에 따라 웜(worm)과 웜휠(worm wheel)을 사용한 결합도 가능하다.As shown in FIG. 2 and FIG. 3, the first rod 30 and the second rod 40 may be formed inward or outward so that the gears face each other according to the design requirements of the vehicle. It is configured to engage with the respective pinion gears (11, 21) coupled to each end of the first actuator (10) and the second actuator (20) seated on the bracket (50). The first actuator 10 and the second actuator 20 is composed of a motor that uses electricity as power, and is disposed perpendicular to the ground in parallel with each other on the side of the steering knuckle 2. Accordingly, the first rod 30 and the second rod 40 are coupled to the first actuator 10 and the second actuator 20 in a rack & pinion manner, respectively. Of course, it is also possible to combine the worm (worm) and worm wheel (worm wheel) according to the characteristics and speed of the motor.

이하, 도면을 참조하여 본 발명의 조향장치의 동작상태를 더욱 상세히 설명한다. Hereinafter, the operating state of the steering apparatus of the present invention with reference to the drawings in more detail.

운전자에 의해 스티어링휠의 조작이 발생하면, ECU 는 이를 감지하고 도 4a 와 도 4b 에 도시된 바와 같이, 상기 제1엑추에이터(10)와 제2엑추에이터(20)를 동작시킨다. 상기 제1엑추에이터(10)와 제2엑추에이터(20)는 서로 반대 방향으로 회전하여(즉, 한쪽이 시계방향회전이면 다른 한쪽은 반시계방향회전 하여) 각각 제1로드(30)와 제2로드(40)를 평행 이동시키며 로드휠(1)과 조향너클(2)을 선회시킨다. 참고적으로, 제1로드(30)와 제2로드(40)는 도시된 바와 같이 평행 이동이 가능하도록 조향너클(2)에 볼 조인트(ball joint) 등과 같은 공지된 부품들을 통해 피벗(pivot) 결합된 것이다. When the steering wheel is operated by the driver, the ECU detects this and operates the first actuator 10 and the second actuator 20 as shown in FIGS. 4A and 4B. The first actuator 10 and the second actuator 20 rotate in opposite directions (that is, when one side rotates clockwise, the other side rotates counterclockwise), respectively, and the first rod 30 and the second rod, respectively. Rotate (40) and pivot the road wheel (1) and steering knuckle (2). For reference, the first rod 30 and the second rod 40 pivot through known parts such as a ball joint and the like on the steering knuckle 2 to enable parallel movement as shown. Combined.

그리고, 치합된 각각의 피니온기어(11, 21)들에서 이탈하지 않도록 별도의 가이드레일 등을 제1로드(30)와 제2로드(40)에 추가적으로 구성할 수 있다. In addition, a separate guide rail or the like may be additionally configured in the first rod 30 and the second rod 40 so as not to be separated from the engaged pinion gears 11 and 21.

따라서, 상기 제1엑추에이터(10)와 제2엑추에이터(20)는 서로를 보조하도록 제1로드(20)와 제2로드(40)를 동시에 밀고 당김으로서 종래의 엑추에이터보다 더 작은 출력으로 작동될 수 있다. 그리고, 외력에 의한 부하 또한 양측으로 나누어지고 피니온기어와 랙기어의 기어비(gear ratio) 변경이 가능하므로 역전현상(외력에 의해 엑추에이터가 밀리는 현상)을 보다 더 효율적으로 방지할 수 있다. Therefore, the first actuator 10 and the second actuator 20 can be operated with a smaller output than the conventional actuator by simultaneously pushing and pulling the first rod 20 and the second rod 40 to assist each other. have. In addition, since the load by the external force is also divided into both sides and the gear ratio of the pinion gear and the rack gear can be changed, the reverse phenomenon (the phenomenon of the actuator being pushed by the external force) can be prevented more efficiently.

이상과 같이 본 명세서와 도면에 개시된 실시예들은 본 발명의 이해를 돕기 위해 특정 예를 제시한 것에 지나지 않으며, 본 발명의 범위를 제한하고자 하는 것은 아니다. 여기에 개시된 실시예들 이외에도 본 발명의 기술적 사상에 바탕을 둔 다른 변형예들이 실시 가능하다는 것은 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 자명한 것이다.As described above, the embodiments disclosed in the specification and the drawings are only presented as specific examples to aid the understanding of the present invention, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention can be carried out in addition to the embodiments disclosed herein.

도 1 은 종래의 좌우 독립형 SBW 조향 시스템의 사시도,1 is a perspective view of a conventional left and right independent SBW steering system,

도 2 는 본 발명의 바람직한 실시예에 따른 독립형 SBW 조향 장치가 차량에 장착된 모습을 나타내는 모식도,2 is a schematic diagram showing a state in which a stand-alone SBW steering apparatus according to a preferred embodiment of the present invention is mounted on a vehicle;

도 3 은 본 발명의 바람직한 실시예에 따른 독립형 SBW 조향 장치의 저면도,3 is a bottom view of a standalone SBW steering apparatus according to a preferred embodiment of the present invention;

도 4a 와 도 4b 는 본 발명의 독립형 SBW 조향 장치가 작동할 때 로드휠과 조향너클이 각각 다른 방향으로 선회하는 모습을 도시한 저면도.4A and 4B are bottom views showing how the wheel and steering knuckles rotate in different directions when the independent SBW steering apparatus of the present invention is operated.

**도면의 주요 부분에 대한 부호의 설명**** Description of the symbols for the main parts of the drawings **

1: 로드휠 2:조향너클1: road wheel 2: steering knuckle

10: 제1엑추에이터 20:제2엑추에이터10: first actuator 20: second actuator

30: 제1로드 40:제2로드30: first load 40: second load

50: 브라켓50: bracket

Claims (4)

차량의 독립형 SBW 조향 장치에 있어서,In a standalone SBW steering apparatus of a vehicle, 로드휠의 내측면에서 결합되며 지면과 수평을 이루고 차체에 회전가능하도록 장착된 조향너클;과A steering knuckle coupled to the inner side of the road wheel and mounted to be horizontal to the ground and rotatably mounted to the vehicle body; and 일단은 상기 조향너클의 일측에서 결합되고 타단은 차량의 내측을 향하도록 결합된 제1로드;와A first rod having one end coupled to one side of the steering knuckle and the other end coupled to the inside of the vehicle; and 일단은 상기 조향너클의 타측에서 결합되고 타단은 차량의 내측을 향하도록 결합된 제2로드;와A second rod having one end coupled to the other side of the steering knuckle and the other end coupled to the inside of the vehicle; and 상기 제1로드를 길이방향을 따라 이동시키는 제1엑추에이터; 및A first actuator for moving the first rod along a longitudinal direction; And 상기 제2로드를 길이방향을 따라 이동시키는 제2엑추에이터;를 포함하고,And a second actuator for moving the second rod along a longitudinal direction. 상기 제1로드와 제2로드가 서로의 반대방향으로 이동함에 따라 상기 조향너클이 선회하는 것을 특징으로 하는 차량의 독립형 SBW 조향 장치.And the steering knuckle rotates as the first rod and the second rod move in opposite directions to each other. 제 1 항에 있어서, 상기 제1엑추에이터와 제2엑추에이터는 각각 피니온기어(pinion gear)가 결합된 모터로 구성되고, 상기 제1로드와 제2로드는 각각 상기 제1엑추에이터와 제2엑추에이터의 피니온기어에 치합하여 활주하도록 외주면에 기어이(gear tooth)가 길이방향을 따라 형성된 랙(rack)으로 구성되는 것을 특징으로 하는 차량의 독립형 SBW 조향 장치.According to claim 1, wherein the first actuator and the second actuator are each composed of a motor in which a pinion gear (pinion gear) is coupled, the first rod and the second rod of the first actuator and the second actuator, respectively Independent SBW steering apparatus of a vehicle, characterized in that the gear (gear tooth) formed on the outer peripheral surface (rack) formed along the longitudinal direction so as to slide in engagement with the pinion gear. 제 2 항에 있어서, 상기 제1엑추에이터와 제2엑추에이터를 구성하는 각각의 모터들은 차체에 고정된 브라켓에 안착되고, 모터의 회전자(rotor)가 아래를 향하도록 장착되는 것을 특징으로 하는 차량의 독립형 SBW 조향 장치.3. The vehicle according to claim 2, wherein each of the motors constituting the first actuator and the second actuator is seated on a bracket fixed to the vehicle body, and the rotor of the motor is mounted to face downward. Standalone SBW Steering. 제 2 항 내지 제 3 항 중 어느 한 항에 있어서, 상기 제1로드와 제2로드는 조향너클과 수직을 이루며 서로 평행하게 배치되는 것을 특징으로 하는 차량의 독립형 SBW 조향 장치.4. The independent SBW steering apparatus according to any one of claims 2 to 3, wherein the first rod and the second rod are disposed perpendicular to the steering knuckle and arranged in parallel with each other.
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WO2014037595A1 (en) * 2012-09-07 2014-03-13 Microelectronica Maser, S.L. Power steering system for vehicles
CN103895697A (en) * 2014-04-16 2014-07-02 中国科学院深圳先进技术研究院 Electric automobile chassis system with four-wheel independent steering function and steer-by-wire mechanism thereof
CN115126972A (en) * 2022-05-24 2022-09-30 新疆北新科技创新咨询有限公司 Highway bridge crack detection device

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WO2014037595A1 (en) * 2012-09-07 2014-03-13 Microelectronica Maser, S.L. Power steering system for vehicles
CN104703860A (en) * 2012-09-07 2015-06-10 微型电子设备发射器公司 Power steering system for vehicles
US9821835B2 (en) 2012-09-07 2017-11-21 Microelectronica Maser, S.L. Power steering system for automobiles
CN103895697A (en) * 2014-04-16 2014-07-02 中国科学院深圳先进技术研究院 Electric automobile chassis system with four-wheel independent steering function and steer-by-wire mechanism thereof
WO2015158066A1 (en) * 2014-04-16 2015-10-22 中国科学院深圳先进技术研究院 Electric automobile chassis system with four-wheel independent steering and steering-by-wire mechanism thereof
CN103895697B (en) * 2014-04-16 2016-06-08 中国科学院深圳先进技术研究院 A kind of four wheels of electric automobile independent steering chassis system and steering-by-wire mechanism thereof
CN115126972A (en) * 2022-05-24 2022-09-30 新疆北新科技创新咨询有限公司 Highway bridge crack detection device

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