WO2009089770A1 - Système de stabilisation de véhicule à commande d'azimuts multiples - Google Patents

Système de stabilisation de véhicule à commande d'azimuts multiples Download PDF

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Publication number
WO2009089770A1
WO2009089770A1 PCT/CN2009/000060 CN2009000060W WO2009089770A1 WO 2009089770 A1 WO2009089770 A1 WO 2009089770A1 CN 2009000060 W CN2009000060 W CN 2009000060W WO 2009089770 A1 WO2009089770 A1 WO 2009089770A1
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WO
WIPO (PCT)
Prior art keywords
steering
vehicle
wheel
sensor
directional control
Prior art date
Application number
PCT/CN2009/000060
Other languages
English (en)
Chinese (zh)
Inventor
Fengshan Bai
Original Assignee
Fengshan Bai
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CNU200820003069XU external-priority patent/CN201183486Y/zh
Application filed by Fengshan Bai filed Critical Fengshan Bai
Publication of WO2009089770A1 publication Critical patent/WO2009089770A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/24—Endless track steering specially adapted for vehicles having both steerable wheels and endless track

Definitions

  • the present patent application relates to a vehicle stability system having multi-directional control, and is particularly suitable for a four-wheeled vehicle traveling on a highway. Background technique
  • the known vehicles on the road use the angle of the front wheel and the body to achieve the turning.
  • This kind of vehicle steering mechanism brings many unfavorable factors: First, the front wheel and the vehicle body produce an angle when the vehicle turns, the inertia of the vehicle body gives the front wheel a lateral force, which makes the vehicle unstable; the second is when the vehicle turns The direction of the front wheel movement deviates from the direction in which the centrifugal force of the vehicle needs to be supported, and the rollover couple is generated, which increases the vehicle's rollover force, which is the main factor of unsafeness.
  • the third is the front wheel drive vehicle that is currently used in large quantities. In order to drive and realize mechanical steering, the structure is complicated.
  • the universal joint transmission must be used to reduce the transmission efficiency and reduce the reliability of the equipment, and cause vibration. Since the front wheel steering has a large resistance to the vehicle, it is not suitable for high speed; the rear wheel steering resistance is small. If the rear wheel is mechanically steered, the front wheel passive differential steering will cause the vehicle to lag behind. Another factor that is detrimental to vehicle stability is that the position of all components other than the wheel is fixed relative to the wheel, and the center of gravity of the vehicle cannot move relative to the wheel. Summary of the invention
  • the utility model provides a vehicle steering with multi-directional control and a center of gravity moving system thereof, which is a front wheel and a vehicle body when the vehicle turns.
  • the angle sensor (21) transmits the steering wheel angle data to the electronic controller (10) to control the steering electromagnetic distribution.
  • the valve (27) and the left front wheel reversing valve (26) or the right front wheel reversing valve (29) inject the oil into the original brake cylinder (25) or (30) of one of the wheels with appropriate pressure to obtain a system for the side wheel.
  • Dynamic resistance (to compensate for the lack of resistance of the front wheel when the rear wheel is turning), forcing the front wheel to actively differentially turn, achieving synchronous steering of the front and rear wheels; when turning and braking, due to stepping on the pedal (8) in time
  • the brake information is transmitted to the electronic controller (10), so that the steering electromagnetic distribution valve (27) is in the oil return state and does not operate.
  • the electronic controller (10) establishes corresponding mathematical models for the collected variables such as the rotational speed and slip ratio of each wheel, the slip rate, the braking force, the steering angle of the steering shaft, the road condition, the engine and the centrifugal force, and utilizes modern optimization.
  • the command is issued, and the oil of different pressures is input to the brake cylinders of each wheel through the execution module (9), so that the wheels rotate at the optimal number of revolutions, thereby achieving the purpose of braking and turning.
  • the electromagnetic reversing valve (44) and the cylinder (42) are controlled by the action of the centrifugal sensor (13) to push the vehicle (including the compartment (31) and the parts other than the wheel and the axle.
  • the utility model has the beneficial effects that the above-mentioned drawbacks of the existing vehicle are avoided by using the system, which not only can reduce the possibility of vehicle rollover, improve the stability of the vehicle operation, improve the handling property, and improve the structure of the vehicle. With reasonable, power-saving and improved reliability of the vehicle operation and ride comfort, while solving the problem of the existing structure to speed up the vehicle, it provides more space for the vehicle to speed up.
  • FIG. 1 is a schematic diagram of a steering structure of the present invention.
  • FIG. 13 Centrifugal sensor, 31. Car, 32. Slide, 33. Spring, 34. Wheel, 35. Left half shaft, 36. Left drive shaft, 37. Differential, 38. Right drive shaft, 39 Pull rod, 40. Piston rod, 41. Right half shaft, 42. Cylinder, 43. Oil pipeline, 44. Electromagnetic reversing valve.
  • Figure 3 is a schematic diagram of the body swing structure. In the figure, 13. Centrifugal sensor, 44. Electromagnetic reversing valve, 45. Relief valve, 46. Right front cylinder, 47. Support piston rod.
  • Figure 4 is a schematic diagram of the structure of the centrifugal control valve.
  • Electromagnetic reversing valve 48. Locking block, 49. Left outlet pipe, 50. Heavy hammer, 51. Hammer, 52. Right outlet pipe, 53. Oil inlet pipe. detailed description
  • the following is a description of a specific embodiment of a previously driven car in which the vehicle structure is prior art, including wheels, cars, power systems, and control systems.
  • the focus of the invention is on the steering mechanism of the vehicle, in particular, the whole vehicle cancels the universal joint transmission, and the two front wheels are kept parallel with the vehicle body when the vehicle turns, and the vehicle is realized by changing the rotational speed of the two front wheels and the mechanical steering of the two rear wheels. Turn.
  • the steering shaft (20) controls the steering gear (22) and is connected to the rotation angle sensor (21) to record the steering wheel angle data.
  • the above-described control steering gear (22) can adopt any steering gear mode in the existing vehicle that can realize steering, such as a worm gear structure.
  • the electronic controller (10) is for each wheel speed collected by each wheel speed sensor, angle sensor (21), brake sensor (7), road condition sensor (11), engine sensor (12), centrifugal sensor (13). And the mathematical model of the slip ratio, the slip rate, the rotation angle, the braking force and the steering angle of the steering shaft, the road condition, the engine speed and the output power, the vehicle turning centrifugal force, etc., using the modern optimization theory for optimization calculation, issuing instructions Computer controller.
  • the left drive shaft (36) is mounted in the spline hole of the left half shaft (35); the right drive shaft (38) is mounted in the spline hole of the right half shaft (41).
  • the cylinder (42) is mounted on the side or underside of the axle.
  • the steering wheel angle data collected by the angle sensor (21) is given to the electronic controller (10), and after calculation, a command is issued to the execution module (9) to control the steering electromagnetic distribution valve (27) and the left front wheel reversing valve.
  • each wheel speed and slip rate slipped by each wheel speed sensor, angle sensor (21), brake sensor (7), road condition sensor (11), engine sensor (12), centrifugal sensor (13) Rate, angle, intensity and angle of the steering shaft braking, road conditions, engine speed and power output, the vehicle turning centrifugal force variable transmission electronic controller (10), is calculated by issuing instructions to execute the module (9) so that rotation
  • the electromagnetic distribution valve (27) is in the oil return state and does not work.
  • the electronic controller (10) establishes corresponding mathematical models for the collected variables such as the rotational speed and slip ratio of each wheel, the slip rate, the rotation angle, the braking force, the steering angle of the steering shaft, the road condition, the engine and the centrifugal force, and utilizes the most modern Optimize the theory to optimize the calculation, issue the command, and execute the module (9) to give the oil of different pressures to the brake cylinders of each wheel, let the wheels rotate at the optimal number of revolutions, and cooperate with the two rear wheel angles to achieve the brake and turn purpose.
  • the vehicle turns or tilts, as shown in FIG.
  • the electromagnetic reversing valve (44) and the cylinder (2) are controlled by the action of the centrifugal sensor (13) to push the piston rod (40) and the pull rod (39) to the vehicle (including the compartment). (31) and the portion other than the wheel and the two halves are moved in parallel on the slide (32) and in the left and right half shafts.
  • the drive shaft can be pivoted as shown in Figure 3.
  • the body can also be swung in the form of Figure 3.
  • the centrifugal sensor (13) records the rotation angle data of the weight (50).
  • the solenoid-operated directional control valve (44) controls the left and right outlet pipes (49) or (52) to output oil of appropriate pressure due to the swing control of the hammer.
  • the lock block (48) locks the hammer rod (51) when it is operated on a straight road, and opens the lock block (48) to work when the road is not flat or turning.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention porte sur un système de stabilisation de véhicule à commande d'azimuts multiples, qui comprend un mécanisme de direction et un mécanisme de déplacement par gravité. Le mécanisme de direction comprend un mécanisme de direction mécanique de roues arrière et un mécanisme de direction différentielle de roues avant. Le mécanisme de direction permet la mise en oeuvre d'une direction mécanique des roues arrière via un volant (19) et un arbre de direction (20). La direction différentielle de roues avant est mise en oeuvre par le biais d'une soupape de distribution (27) qui est commandée par une vis, la résistance de freinage étant fournie par un cylindre de frein (25, 30) situé d'un côté de la roue avant afin maintenir la roue avant parallèle à la carrosserie du véhicule lorsque ce dernier tourne. La carrosserie du véhicule est fixé sur des axes au moyen d'un ressort (33) et d'un amortisseur.
PCT/CN2009/000060 2008-01-19 2009-01-16 Système de stabilisation de véhicule à commande d'azimuts multiples WO2009089770A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CNU200820003069XU CN201183486Y (zh) 2008-01-19 2008-01-19 前轮与车身平行的制动转向机构
CN200820003069.X 2008-01-19
CN200820119846 2008-06-03
CN200820119846.7 2008-06-03

Publications (1)

Publication Number Publication Date
WO2009089770A1 true WO2009089770A1 (fr) 2009-07-23

Family

ID=40885067

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2009/000060 WO2009089770A1 (fr) 2008-01-19 2009-01-16 Système de stabilisation de véhicule à commande d'azimuts multiples

Country Status (1)

Country Link
WO (1) WO2009089770A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108688737A (zh) * 2017-04-11 2018-10-23 郑州宇通客车股份有限公司 一种客车
CN109533016A (zh) * 2018-12-31 2019-03-29 江苏金陵智造研究院有限公司 一种用于室外无人送货的电动车底盘
CN112356933A (zh) * 2020-12-02 2021-02-12 湖北三江航天万山特种车辆有限公司 一种多用转运车
CN114379690A (zh) * 2020-10-22 2022-04-22 光阳工业股份有限公司 具有两前轮的可倾斜车辆

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4830128A (en) * 1987-12-28 1989-05-16 Eaton Corporation Four wheel steering having closed hydraulic system with pressure relief
CN2435298Y (zh) * 1999-01-07 2001-06-20 杨应捷 四轮汽车的四轮转向机构
CN1369389A (zh) * 2001-11-26 2002-09-18 干方飞 离心式摆配平衡汽车防侧翻系统
CN2564394Y (zh) * 2002-08-28 2003-08-06 高崇汶 汽车弯行稳定装置
CN2686891Y (zh) * 2004-03-09 2005-03-23 申怀臣 轿车可调式安全平衡稳定器
US7191865B2 (en) * 2000-10-03 2007-03-20 Ian James Spark Off road vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4830128A (en) * 1987-12-28 1989-05-16 Eaton Corporation Four wheel steering having closed hydraulic system with pressure relief
CN2435298Y (zh) * 1999-01-07 2001-06-20 杨应捷 四轮汽车的四轮转向机构
US7191865B2 (en) * 2000-10-03 2007-03-20 Ian James Spark Off road vehicle
CN1369389A (zh) * 2001-11-26 2002-09-18 干方飞 离心式摆配平衡汽车防侧翻系统
CN2564394Y (zh) * 2002-08-28 2003-08-06 高崇汶 汽车弯行稳定装置
CN2686891Y (zh) * 2004-03-09 2005-03-23 申怀臣 轿车可调式安全平衡稳定器

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108688737A (zh) * 2017-04-11 2018-10-23 郑州宇通客车股份有限公司 一种客车
CN109533016A (zh) * 2018-12-31 2019-03-29 江苏金陵智造研究院有限公司 一种用于室外无人送货的电动车底盘
CN114379690A (zh) * 2020-10-22 2022-04-22 光阳工业股份有限公司 具有两前轮的可倾斜车辆
CN112356933A (zh) * 2020-12-02 2021-02-12 湖北三江航天万山特种车辆有限公司 一种多用转运车

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