SU1539115A1 - Vehicle steering system - Google Patents

Abstract

The invention may be applied in all-terrain vehicles operating primarily in maneuvering mode, as well as in sporting buggies. The purpose of the invention is to improve the safety of the vehicle with increased speeds. The steering has a knownly reduced angular gear ratio of the steering mechanism and includes a torque sensor 3, a power amplifier 5, a servomotor 4, a switch 6, a comparator 7, an adder 8, a source of comparator threshold voltage, a reference voltage source movement of the car. New is the fact that the servomotor 4 at low speeds of the car is working in the amplifying mode, so that it is necessary to turn the steering wheel easily, and at high speeds it is necessary in the mode of the dynamic damper, which ensures the stabilization of the controlled wheels by the speed of the disturbing forces. . 1 il.

Description

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The invention relates to steering controls of wheeled vehicles and can be used in off-road vehicles operating mainly in maneuvering mode, as well as in sports cars such as buggies.

The purpose of the invention is to improve the safety of the vehicle with high speeds

The drawing shows a functional steering scheme "

The shaft between the steering wheel 1 and the steering gear 2 is connected with the torque sensor 3 and the servomotor 4. Sensor 3 is an elastic element with load-bearing resistances attached to it, which takes the load from the steering wheel 1 and converts it into electrical signals, directly proportional to the force, the driver spends the driver turning the wheels to be driven.

The output of torque sensor 3 is connected to power amplifier 5. Power amplifier 5 is connected to servomotor 4 via switch 6. The control input of the latter is the output of comparator 7. The first input of comparator 7 is connected to the output of sum-1-mater 8, and the second input is connected to source 9 of the comparator threshold voltage. The first input of the adder 8 is connected to the source 10 of the reference voltage, and the second input is connected via the limiter 11 to the sensor 12 of the driving speed.

Servomotor power supply

and

(j km with UCUMMM Unop

with u

su ""

and

(

DCp

- coefficient of proportionality; - torsional voltage sensor

moment 3; 50

- output voltage sum

torus 8;

- comparator threshold voltage provided by

source 9.

U voltage

cvwm

at the output of the adder 8 is described by the formula

where Voporn ° n ° Rn ° e voltage source 10;

V - signal at the output of the limiter 1 I.

The limiter 11 is a one-way limiter of the input signals to a minimum, therefore its output signal UD is associated with the signal V of the vehicle speed sensor 12 by the following relationship:

 (V "IVMMH

WITH Vq × „„ WITH V “min

(3)

15 20 25

thirty " . 40

45

where V is the voltage of the lower threshold

 T

limiter pass

And about

The relationship between the signals is expressed by the following inequality:

0 VMUH Vnop "Vonopl)

With Uc;, MM U nop at the output of the comparator 7, the voltage level corresponds to a logical zero, for sum 7 and then the voltage level corresponds to a logical one. The switch is a standard relay switching device, which is in a conducting or an external control signal nonconductive.

Steering works as follows. I

When driving a car with relatively low speeds V, i.e. in the shunting mode, we have that the output voltage of the summer Chsumll is greater in magnitude than the threshold voltage Un) f. Therefore, the discrete signal from the comparator 7, corresponding to the logical unit, supports the switch 6 open in line with the torque sensor 3 - amplifier power 5 - servomotor 4, so that the servomotor 4 have a voltage

Unwr - K and „km with“ ra

(four)

and it works in boost mode, significantly reducing the required torque on the steering wheel "

The described situation takes place until the speed of the car reaches a value at which UcyMlv% becomes equal to or less than Unop, i.e. when

 V

support

- V,

" five

(2)

VOflOfH

- Vq 6 U then i

(five)

515

And this corresponds to the transport mode of the car, at the output of the comparator 7 we have a voltage value corresponding to a logical zero, which allows the switch to interrupt the electrical circuit torque sensor 3 - power amplifier 5 - servo motor 4 and close the rotor winding inputs of the servo motor 4 between them

Thus, in all cases of movement that satisfy condition (5), the steering wheel 1, in addition to the moment of resistance to the steering wheels, is loaded with an additional braking torque, the value of which is proportional to the speed of rotation of the steering wheel

3o (pk

mzm - to, gr (6)

- coefficient proportional

nosti

steering speed

wheels.

I

Moment M EDD occurs in the servomotor 4 due to the fact that the winding inputs of its rotor are short-circuited between themselves or through shunts in it there is a counter-electromotive force preventing the rotation of the rotor. MEL moment is dynamic and allows you to stabilize the controlled wheels of the car according to the speed of action of the emerging forces from the road or the speed of rotation of the steering wheel, which increases driving safety

When the vehicle is moving in reverse, the servomotor 4 operates in the amplification mode and the voltage on it

Compiled by V.Ionov Editor MSNedoluzhenko Tehred L.Serdyukova Corrector M.Sharoshi

Order 187

Circulation 439

VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5

156

is described by formula (4) in view of

what is the voltage of the adder

ig

PORI MIN

Jcyw / "is always greater than the threshold voltage (7)

nor u

ilO | J

Q

15

20

25

thirty

35

40

Claims (2)

1. The vehicle’s steering system, comprising a steering mechanism, kinematically connected to controllable wheels, a torque sensor mounted on the steering shaft and electrically connected through a power amplifier to a servo motor, kinematically connected to the steering shaft, characterized in that increase vehicle safety with higher speeds; it is equipped with a switch, comparator, adder, threshold and reference voltage sources and speed sensor of the voltage, the output of which is electrically connected to one of the inputs of the adder, the other input of which is connected to the source of the reference voltage, and the output to the first input of the comparator, the other input of which is connected to the source of the threshold voltage, and the output of the comparator is connected to one of the switch inputs, the other input of which is connected to the power amplifier, and the output to the servo motor 2. The steering control according to claim 1, which is equipped with a limiter, the input of which is connected to the speed sensor, and output - with one of the inputs of the adder. Subscription