RU2562937C1 - Method of automotive wheel turning - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: proposed method exploits trapezium with pivot levers and wheels controlled by steering drive. It consists in performing the turn by forced variation of master wheel rpm. Master wheel starts changing of its position by varying the 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. Wheel rpm is set with allowance for derived angle between pivot lever and horizontal of every wheel.

EFFECT: better control.

1 dwg

Description

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

A known method of rotation of a wheeled vehicle by means of a steering gear including a trapezoid with pivoting levers and wheels due to a forced change in the value of the speed of rotation of the driving wheel, which begins to change its position by changing the angle of rotation of the pivoting arm kinematically connected through the trapezoid with another pivoting lever, which in turn deviates to the other side, changes the position of the second wheel. The 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 motion of the trajectory of rotation (RU 2476344, B62D / 00; D60K 17/30; B62B 15 / 00; 06/28/11).

The disadvantage of this control method is that when calculating the required wheel speeds, the additional path that each of the wheels moves on an uneven surface is not taken into account, and, as a result, leads to a control error.

The technical result is the creation of more effective control of the rotation of a wheeled vehicle by using the difference in the speeds of rotation of the steered wheels, characterized in that for calculating the required speeds of rotation of the wheels, an additional path is taken into account, which each of the wheels moves when moving on an uneven surface.

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 a wheel, due to a forced change in the value of the speed of rotation of the driving wheel, which begins to change its position by changing the angle of rotation of the pivoting lever kinematically connected through the trapezoid with another rotary lever, which in turn deviates to the other side, changes the position of the second wheel, while the rotation is carried out by increasing speeds rotation of the master outer wheel relative to a given turning trajectory and / or by reducing the rotational speed of the master inner wheel relative to a given turning trajectory, the peculiarity is that the influence of the unevenness of the surface on which the vehicle is moving is taken into account by calculating the derivative of the angle between the rotary lever and the horizontal of each of the wheels, which in turn allows you to determine the increase in the path and, as a result, determine the required yu speed of each wheel.

The list of figures drawings.

Figure 1 shows the vector of the instantaneous speed of the wheel when it collides with unevenness.

The method is as follows.

.Suppose that a wheeled vehicle has an independent suspension of wheels, moves linearly and there is an unevenness in the path of one of its steering wheels. To compensate for the increase in the path of this wheel and maintain the previous direction of the vehicle, the speed of this wheel must be increased. To determine what this increase should be, we will postpone (Fig. 1) the vertical velocity vectors (H) and horizontally (V) from the axis of rotation of the wheel (O). Then the modulus of the instantaneous velocity vector V ′ can be calculated by the formula $$V\text{'}\text{'}=\sqrt{V^2+H^2}$$

.

Suppose further that the frame of the vehicle does not change its angle of inclination along all three axes during its movement and moves linearly at a constant speed. Then the instantaneous horizontal wheel speed V will be equal to the vehicle speed. The instantaneous vertical lift speed H of the wheel is calculated from a triangle formed by the wheel lever of length l, the height of the wheel lift h and the projection of the lever onto the plane of the frame. In this case, the wheel lifting height h can be expressed in terms of the lever length l and the sine of the angle θ between the lever and the frame plane h = lsinθ.

Therefore, the instantaneous change h ′ of height h will be the derivative of this function h ′ = lcosθ. It actually shows how the leg of h will change when the angle changes by l radian at angle θ.

угла (моментальная скорость изменения угла), получим моментальную скорость - изменение высоты h по времени $$H=\frac{d\theta }{dt}l\cos \theta$$

.Multiplying this function by the derivative $$\frac{d\theta }{dt}$$

angle (the instantaneous rate of change of the angle), we obtain the instantaneous speed - a change in height h in time $$H=\frac{d\theta }{dt}l\cos \theta$$

.

при движении по неровности будут подчиняться следующему закону:Thus, the speed of each of the wheels of the vehicle $$V_i^{\text{'}\text{'}}$$

when driving on bumps will obey the following law:

where R is the radius of the vehicle when turning; R _i is the radius of motion of the i-th wheel.

, где r - радиус колеса.Therefore, the angular velocity of their rotation (ω _i ) will be calculated as follows: $${\omega }_i=\frac{V_i^{\text{'}\text{'}}}{2\pi r}$$

where r is the radius of the wheel.

For the inventive method in the form described in 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 rotation taking into account the unevenness of the surface of movement of the wheeled vehicle.

Claims (1)

A method of turning a wheeled vehicle by means of a steering gear including a trapezoid with pivoting levers and a wheel, where the pivoting is carried out by forcing the rotation speed of the driving wheel, which starts to change its position by changing the angle of rotation of the pivoting arm kinematically connected through the trapezoid to another pivoting lever , which in turn deviates to the other side, changing the position of the second wheel, characterized in that the rotation speeds of the wheels are set taking into account m is the derivative of the angle between the pivot arm and the horizontal of each of the wheels.