RU2476344C1 - Method of automotive wheel turning - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to automotive industry. Proposed method exploits trapezium with pivot levers and wheels controlled by steering drive. Wheel is turned by forced variation of drive wheel rpm resulted from change in pivot lever turn angle. Said lever is articulated via trapezium with another pivot lever deflecting in opposite side to very the position of another wheel. Turn is performed by increasing outer drive wheel rpm relative to preset rpm for turn path and/or by decreasing inner drive wheel rpm relative to turn path.

EFFECT: higher efficiency of control.

2 cl, 2 dwg

Description

The invention relates to the field of transport engineering, in particular to the steering of wheeled vehicles.

A known method of steering a wheeled vehicle due to the kinematic connection of the steered wheels and the steering mechanism by means of a steering drive, a diagram of which is shown in figure 1. Steering gear 1 is called a mechanism that allows you to rotate the steered wheels 2a and 26 with the necessary gear ratio, and steering gear 3 - a system of rods and levers, which, together with the steering gear, rotate the wheeled vehicle. The most widespread steering gear in the form of a trapezoid. One base of the trapezoid is the middle part of the front axle (beam) 4, which is attached to the frame 5, the other is the transverse link 6, the sides are levers 7a and 7b, mounted in the pivots of the wheels 8a and 8b (See Lysov M.I. Car Steering / M.I. Lysov. - M.: Mechanical Engineering, 1972., p. 5).

The disadvantage of this control method is that the rotation of the vehicle is carried out by means of a complex steering structure, requiring kinematic communication between the steering wheel and the steering gear through the steering mechanism.

The aim of the invention is the creation of more efficient control of the rotation of a wheeled vehicle by using the difference in the speeds of rotation of the steered wheels to directly change the position of the steered wheels, which leads to the rotation of the vehicle without using the steering gear.

This is achieved by the fact that in the method of turning a wheeled vehicle by means of a steering drive including a trapezoid with pivoting levers and wheels, the peculiarity is that the rotation is carried out due to a forced change in the speed of rotation of the driving wheel, which begins to change its position by changing the angle of rotation a pivot arm kinematically connected through a trapezoid with another pivot arm, which in turn deviates to the other side, changing the position of the second wheel, and this rotation is carried out by increasing the speed of rotation of the master outer wheel relative to the set trajectory of rotation and / or by reducing the speed of the master inner wheel relative to the set of trajectory of rotation and also the speed of rotation of the wheels is set taking into account the geometric dimensions of the elements of the steering gear and controlled wheels.

The list of figures drawings.

Figure 1 shows a diagram of the steering of a wheeled vehicle containing a steering mechanism.

Figure 2 shows a diagram of the steering of a wheeled vehicle based on a change in the speed of rotation of the steered wheels.

Figure 2 shows two steered wheels 1 and 2, pivoting levers 3 and 4, steering trapezoid 5, drives 6a and 6b, a control system for turning the wheels 7.

The method is as follows.

If you want the vehicle to move in a straight line, the steered wheels 1 and 2 are set to the same speed of rotation V ₁ = V ₂ expressed in revolutions / sec.

If it is required that the wheeled vehicle turns, the corresponding steered wheel, for example the steered wheel 1, is set to have a rotation speed V ₁ greater than that of the other wheels, as a result of which this steered wheel 1 runs forward. Thus, the position of the corresponding pivoting arm 3 will change. Moreover, the longer the pivoting arm is, the slower its position will change. Since the rotary lever 3 of the steered wheel 1 is kinematically connected with the rotary lever 4 of the steered wheel 2 by means of the steering trapezoid 5, in the case of the steered wheel 1 running forward, the steered wheel 2 will tend to deviate backward. At the same time, to eliminate skidding and, as a result, increased tire wear, it is necessary to optimize the rotation speed V _{2 of the} steered wheel 2.

A similar result can be obtained if the steered wheel 2 is set to a rotation speed V ₂ lower than that of the other wheels, as a result of which this steered wheel 2 deviates back. In this way, the position of the corresponding pivot arm 4 will change. Since the pivot arm 4 of the steered wheel 2 is kinematically connected to the pivot arm 3 of the steered wheel 1 by means of the steering trapezoid 5, in the event the steered wheel 2 is deflected back, the steered wheel 1 will tend to deviate forward. At the same time, to eliminate skidding and, as a result, increased tire wear, it is necessary to optimize the rotation speed V _{1 of the} steered wheel 1.

To set the required rotation angles α ₁ and α _{2 of the} steered wheels 1 and 2, respectively, it is necessary to set certain rotation speeds V ₁ and V _{2 of the} steered wheels 1 and 2, respectively, the value of which also depends on the speed of the vehicle V ₀ , the geometric dimensions of its structural elements : radius of steered wheels 1, 2, steering elements 3, 4, 5.

For example, for a 4-wheel vehicle, including 2 axles, on one of which the steered wheels are located, if the radius of the steered wheels is the same and equal to r, then in order to set the required steering angles α ₁ and α _{2 of the} steered wheels of the rotation speed V ₁ and V ₂ steered wheels are calculated as follows:

,

,

,

,

where V ₀ is the vehicle speed, l is the length of the swing levers, b is the distance between the axles.

In order to determine the current position of the steered wheels and the moment of reaching the required rotation angles α ₁ and α _{2 of the} steered wheels 1 and 2 and in accordance with this information to set the rotation speeds V ₁ and V _{2 of the} steered wheels 1 and 2, one or more angle sensors are used rotation of the steered wheels (not shown in figure 2), which are located in accordance with the design features of the vehicle.

The rotational speeds V ₁ and V _{2 of the} steered wheels 1 and 2 are set using the drives 6a and 6b. The drives can be electric motors or other power plants that provide the required rotation speeds V ₁ and V _{2 of the} steered wheels 1 and 2.

The rotation speeds V ₁ and V _{2 of the} steered wheels 1 and 2 are controlled through the steering system of the wheels 7 based on data on the geometric dimensions of the steering elements, the required steering angles α ₁ and α _{2 of the} steered wheels 1 and 2, the current steering angles of the steered wheels 1 and 2, the required vehicle speed V ₀ , the radius of the steered wheels 1 and 2.

With an increase in the number of axles of a wheeled vehicle, the number of pairs of steered wheels connected by means of the steering trapezoid may increase. If the wheeled vehicle contains 2 axles, you can use either one or two pairs of steering wheels to rotate. In the extreme case, the number of steered wheels connected by means of the steering trapezoid may coincide with the number of axles of the wheeled vehicle.

For the claimed method, as described in the independent paragraph of the claims, the possibility of its implementation using the means and methods described in the application and known prior to the priority date is confirmed. Therefore, the claimed invention meets the condition of "industrial applicability".

Thus, it is possible to control the rotation of the wheels of the vehicle according to the selected law, providing the necessary conditions for turning.

Claims (2)

1. The method of rotation of a wheeled vehicle by means of a steering gear including a trapezoid with pivoting levers and wheels, characterized in that the pivoting is carried out by forcibly changing the speed of rotation of the driving wheel, which starts to change its position by changing the angle of rotation of the pivoting arm kinematically connected through trapezoid with another pivot arm, which, in turn, deviates to the other side, changing the position of the second wheel, while the rotation is carried out at the expense of elicheniya rotational speed of the driving outer wheel relative to a given trajectory during the motion of rotation and / or by reducing the rotational speed of the driving wheel relative to the internal movement of rotation with a predetermined trajectory. 2. The method according to claim 1, characterized in that the speed of rotation of the wheels is set taking into account the geometric dimensions of the elements of the steering gear and steered wheels.

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