WO2009140883A1

WO2009140883A1 - Digital steering control method and system for wheel type vehicle

Info

Publication number: WO2009140883A1
Application number: PCT/CN2009/071444
Authority: WO
Inventors: 黄因慧; 田宗军; 刘志东; 沈理达; 汪炜
Original assignee: 南京航空航天大学
Priority date: 2008-05-22
Filing date: 2009-04-24
Publication date: 2009-11-26
Also published as: CN101318520A

Abstract

A digital steering control method for wheel type vehicle involves the steps : sampling the signal from the rotational angle of the steering wheel and the digital signal from the speed of the vehicle, inputting all the signals to the numerical control unit (9); computing the speed difference needed for left and right driving wheels; computing the rotational speed for driving the steering driver (1) according to the speed difference; the steering driver drives the planetary gear sets (2) to act according to the rotational speed computed, left and right driving wheels are enabled to symmetrically speed up and decelerate to realize the steering without sideslip. The digital steering system for wheel type vehicle is also provided.

Description

Instruction manual

Method and system for digital control steering of wheeled motor vehicles

Technical field

The invention relates to a vehicle, in particular to a two-wheel drive wheeled motor vehicle such as a car, a truck, a construction vehicle, a military vehicle, etc., in particular to a method and system for digitally controlling vehicle steering (ie Digital Turnning System, DTS).

It is well known that when a car suddenly turns or suddenly changes lanes at high speed, it is easy to produce side slip and tail flicking, which has always been a problem in the automotive industry. In order to solve the problem of side slip, the most researched in the automotive industry is the four-wheel steering mechanism. The four-wheel steering (4WS) of a car means that when the car is turning, the rear wheel can be steered simultaneously with the front wheel, so that the four wheels of the car can be turned to improve the steering maneuverability and operational stability of the car. And driving safety.

At present, the rear wheel deflection law of a typical 4WS car is divided into two types: (1) Reverse phase steering: When the vehicle is running at low speed or the steering wheel angle is large, the front and rear wheels realize reverse phase steering (the maximum steering angle of the rear wheel is generally 5°). about). This way of turning improves the handling and portability of the car at low speeds, reduces the turning radius of the car, and improves the maneuverability of the car. (2) Co-phase steering: When the medium and high-speed driving or steering wheel angle is small, the front and rear wheels realize the same phase steering (the maximum rotation angle of the rear wheel is generally Γ left and right). The yaw rate of the car body is greatly reduced, which can reduce the tendency of the car body to be dynamically deflected, and ensure that the car is understeering to avoid side slip when the car is overtaking at high speed and entering and leaving the expressway.

The shortcomings of this four-wheel steering mechanism are: (1) When the low-speed steering, the tail of the car is easy to encounter obstacles; (2) The technical difficulty of achieving ideal control is large; (3) The steering structure is complicated and the cost is high; In the process of turning, Ackerman's theorem is difficult to guarantee, and it is difficult to achieve pure scrolling.

According to the applicant's knowledge, there are already a number of patent applications for four-wheel steering mechanisms. There are also many papers that prove that the scheme can make the side angle equal to zero, so there will be no side slip phenomenon. However, a careful analysis reveals that the steering of the existing front-wheel steering vehicle is a two-dimensional motion consisting of a quasi-circular motion of a mass point and a rotation of a vehicle body about a vertical axis. The process is as follows: the front wheel deflection → the force component of the friction caused by the deflection gives the front wheel a lateral rotational force → the rear wheel instantly generates a frictional force in the opposite direction and the force of the front wheel together constitutes the torque of the vehicle body steering The vehicle body generates steering acceleration→body body steering→the inertial centrifugal force generated by the change of the moving direction of the car body causes a horizontal friction force on the front and rear wheels, which is the centripetal force of the car body to perform the circular motion→the quasi-circular motion of the car body .

From this process you can see two problems:

One: The rotation of the car body about the vertical axis is an inertial process, which is bound to produce over-rotation. The description of the process of overcoming the rotation is similar to that described above, so the entire rotation process must be an oscillating process that continues until the turn process Bunch.

Secondly, the rotational moment generated by the rotation of the car body about the vertical axis is transverse to the direction of the force generated by the quasi-circular motion of the car body on the front and rear wheels, and the superimposition is generated during the oscillation process. When the force of the tire exceeds the static friction that the tire can withstand, the side slip phenomenon occurs.

In addition, in tracked vehicles such as tanks, crawler tractors, and construction machinery, steering steering gear trains are also used for differential steering. The differential steering provides different rotational speeds of the track drive wheels on both sides of the vehicle with the planetary gear train to achieve differential steering motion on both sides of the track. However, according to the applicant's knowledge, due to the inherent characteristics of wheeled vehicles, there has not been any report that the steering planetary gear train is used for differential steering and the off-road function is realized. The main reason is that the tire and the ground must be between the steering and the ground. The lateral sliding occurs, and the smaller the turning radius is, the more obvious the lateral sliding is. The faster the vehicle speed is, the more likely the lateral sliding is to cause the side slip phenomenon, which brings many obvious and even serious drawbacks.

Therefore, how to simplify the steering mechanism and make the two-wheel drive type wheeled vehicle have off-road function is a problem that the automobile industry has not been able to solve for a long time. To this end, designing a new type of steering off-road method and adaptive system that combines the steering planetary gear train to realize differential steering is an urgent problem to be solved at present, and it is also the direction of automobile development in the future.

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The object of the present invention is to solve the problem that the driving steering system of the off-road vehicle is complicated and high in cost existing in the steering of the conventional automobile, and the invention realizes the use of the steering planetary gear system to realize the speed difference between the left and right driving wheels. Steering and off-road function and completely eliminating the side slip phenomenon by changing the steering mode to digitally control the steering of the vehicle.

The technical solution of the present invention is:

A method for digitally controlling steering of a wheeled motor vehicle, characterized in that it comprises the following steps:

In the first step, the steering wheel angle and the vehicle speed digital signal are collected and sent to the numerical control device (including computer, single chip microcomputer, etc.); the second step is to calculate the left and right driving wheels according to the obtained vehicle speed and the angle value and the vehicle body parameters by the numerical control device. Speed difference

In the third step, the numerical control device calculates the rotational speed of the numerical control steering drive according to the calculated speed difference;

In the fourth step, the numerical control steering drive drives the steering planetary gear train at the obtained rotational speed;

In the fifth step, the steering planetary gear train combines the obtained steering drive with the traveling drive, and distributes to the left and right driving wheels through the output shaft, so that the left and right driving wheels are symmetrically accelerated one by one, and one speed is decelerated, thereby realizing no side sliding steering, and the left and right wheels are While achieving differential steering, the deflection wheel deflection mechanism delays the rotation of the deflection wheel to an angle consistent with the forward direction of the deflection wheel, thereby achieving pure rolling of the deflection wheel;

In the sixth step, if the vehicle speed value or the corner value changes, repeat the first step to the fifth step until the parking is stopped. The front wheel deflection mechanism delay is achieved by installing an elastic link between the steering wheel and the front wheel deflection mechanism. The steering planetary gear train has two degrees of freedom, two input shafts and two output shafts, which can combine the steering drive and the travel drive and distribute the left and right drive wheels through the output shaft; when the numerical control steering drive is stationary, The forward drive input causes the left and right drive wheels to rotate in the same direction at the same speed, and the vehicle body advances linearly. When steering, the numerical control steering drive is combined with the forward drive through the planetary gear train to accelerate the left and right drive wheels symmetrically, one decelerates, and the vehicle body is turned ; CNC steering drive forward and reverse can make the car body turn left and turn right; CNC steering drive can change the car body steering speed by turning fast and slow, CNC turning drive determines the steering angle by the calculated speed rotation time The length of time is determined by the steering wheel steering time and the vehicle speed holding time. If the steering wheel angle changes or the vehicle speed changes, the new CNC steering drive speed is automatically recalculated.

The device adapted to the above method is:

A digital control steering system for a wheeled motor vehicle, comprising an engine and a gearbox 7 as a forward power source of the motor vehicle, a deflection wheel deflection mechanism 3 and a steering wheel 6 for controlling the synchronous rotation of the left and right wheels, wherein the steering wheel 6 is mounted There is a corner digital sensor 5, and a speed sensor 8 is mounted on the driving wheel. The outputs of the corner digital sensor 5 and the speed sensor 8 are connected to the on-board numerical control device 9, and one of the outputs of the on-board numerical control device 9 is connected to the input of the steering drive 1. The output of the steering drive 1 is connected to an input shaft of the steering planetary gear train 2, and the other input shaft of the steering planetary gear train 2 is connected to the output shaft of the engine and the gearbox 7, and the two output shafts of the steering planetary gear train 2 are respectively The left and right wheels are connected; the steering wheel 6 is connected to the front wheel deflection mechanism 3 by a delaying elastic link 4, and the front wheel deflection mechanism 3 is connected to the left and right wheels, respectively.

The steering planetary gear train 2 can adopt a planetary gear train having two degrees of freedom, two input shafts and two output shafts, which can combine the steering drive and the travel drive and distribute the left and right drive wheels through the output shaft; When the steering driver 1 does not operate, the forward drive input from the engine and the transmission 7 causes the left and right wheels to rotate in the same direction at the same speed, and the vehicle body linearly advances; when steering, the steering drive sent from the steering drive 1 passes through the steering planetary gear train. 2 combined with the forward drive sent by the engine and the gearbox 7, so that the left and right wheels are symmetrically accelerated one by one, one deceleration, and the vehicle body realizes the steering; the forward rotation of the steering drive 1 can make the vehicle body turn left and turn right; The drive 1 can change the steering angle of the car body by turning more and less; the steering drive 1 can change the speed of the car body by turning fast and slow.

The steering drive 1 is a numerically controlled drive, and the steering drive 1 is controlled by a numerical control device 9 for driving the left and right drive wheels to form a rotational speed difference during cornering, so that the difference in driving force or resistance between the left and right wheels in the forward and backward directions constitutes a rotation of the vehicle body about the Z axis. Dynamic torque.

The beneficial effects of the invention:

1. The present invention first proposes a new steering solution, the principle of which is: the frictional force required to steer the vehicle body (including the oscillating process) is generated by the difference between the left and right wheel speeds, which is longitudinal, and the direction of the centrifugal force It is vertical. The superposition of mutually perpendicular forces is much smaller and the possibility of slippage is much less. 2. The present invention first refers to a steering planetary gear train to a wheeled motor vehicle. The present invention uses the steering planetary gear train as a steering power to make the deflection wheel slightly lag behind the following deflection; at the same time, the steering of the planetary gear train The drive must be a numerically controlled drive controlled by a numerical control device (such as an open-loop or closed-loop CNC motor or a CNC hydraulic motor) to precisely ensure that the turning radius produced by the planetary gear train at various vehicle speeds is consistent with the deflection of the deflection wheel.

3. Compared with the prior art, the invention increases the cost less, but avoids the disadvantages of using the steering planetary gear steering, and obtains two main advantages of using the steering planetary gear steering: (1) reducing high-speed cornering The possibility of side slip greatly improves the steering stability of the car during high-speed steering; (2) realizes the quasi-off-road function of the two-wheel drive, that is, when the local surface condition causes one side of the drive wheel to slip, the other side of the drive wheel can still be normal. The speed drives the vehicle.

4. The two-wheel drive of the present invention has a cross-country function and can effectively reduce the probability of high-speed cornering. The new steering system can be applied to two-wheel drive or two rear-wheel drive wheeled vehicles.

5. A set of two wheels of the drive wheel (front or rear wheel) of the present invention must be constituted by any type of steering planetary gear train, and the steering drive is a numerically controlled drive (such as an open-loop or closed-loop numerical control motor or a numerically controlled hydraulic motor). Controlled by the numerical control device, the left and right driving wheels are driven to form a rotational speed difference during the turning, so that the driving force difference or the resistance difference of the left and right wheels in the forward and backward directions constitutes the dynamic moment of the vehicle body rotating about the Z axis. When the drive wheel uses a steering planetary gear train, even a two-wheel drive vehicle has a similar off-road function, that is, one side drive wheel slip does not affect the other side drive wheel operation.

6. The deflection wheel deflection mechanism of the present invention can adopt a conventional structure, but it must have a slight hysteresis, and its function is to make the deflection wheel purely rolling without generating lateral steering force. That is, the deflection of the deflection wheel only serves as an action, and does not function as a steering.

7. The steering wheel of the present invention controls a digital sensor for the first time, and sends a steering signal to the numerical control device. The numerical control device calculates the driving speed according to the steering signal and the actual measured body speed, and drives the steering drive according to the calculation result. To achieve steering, the resulting turning radius should be exactly the same as the deflection of the deflection wheel. An elastic link is added between the steering wheel and the deflection mechanism of the conventional structure to achieve a slight delay in the required deflection of the deflection wheel.

8. The inventive invention will turn the driving of the planetary gear train from the traditional passive realization differential to the active differential drive. At the same time, the sensor and the numerical control device technology are combined with the steering drive of the driving steering wheel train to realize the self. Adapting to the control, solving the long-distance unstealing problem of the two-wheel drive wheeled motor vehicle. DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the structure of a drive and steering system of the present invention.

2 is a second schematic view of the structure of the drive and steering system of the present invention.

3 is a third schematic view of the structure of the drive and steering system of the present invention.

4 is a fourth schematic view of the structure of the drive and steering system of the present invention. Figure 5 is a flow chart of the steering implementation process of the present invention.

The invention will now be further described with reference to the accompanying drawings and embodiments.

Embodiment 1.

As shown in Figure 5.

A method for digitally controlling steering of a wheeled vehicle includes the following steps:

In the first step, the steering wheel angle and the vehicle speed digital signal are collected and sent to the numerical control device;

In the second step, the numerical control device calculates the speed difference required for the left and right driving wheels according to the obtained vehicle speed and the angle value and the vehicle body parameters;

In the fifth step, the steering planetary gear train combines the obtained steering drive with the traveling drive, and distributes to the left and right driving wheels through the output shaft, so that the left and right driving wheels are symmetrically accelerated one by one, and one speed is decelerated, thereby realizing no side sliding steering, and the left and right wheels are While achieving differential steering, the front wheel deflection mechanism delays the front wheel to rotate to an angle consistent with the forward direction of the front wheel to achieve pure rolling of the front wheel;

Sixth, if the vehicle speed value or the corner value changes, repeat steps 1 to 5.

The front wheel deflection mechanism delay can be realized by installing an elastic link between the steering wheel and the front wheel deflection mechanism; the steering planetary gear train has two degrees of freedom, two input shafts, and two output shafts, which can The steering drive and the traveling drive are combined and distributed to the left and right driving wheels through the output shaft; when the numerical control steering drive is not moving, the forward driving input causes the left and right wheels to rotate in the same direction at the same speed, and the vehicle body advances straight; when steering, the numerical control steering drive passes the planet The wheel train is combined with the forward drive to make the left and right wheels symmetrical one acceleration, one deceleration, and the car body is thus turned; the CNC steering drive rotates forward and reverse to make the car body turn left and right; the CNC steering drive can turn fast and slow. Changing the steering speed of the car body, the numerical control steering drive determines the steering angle by the length of the calculated speed rotation time. The length of time is determined by the steering wheel steering time and the vehicle speed holding time. If the steering wheel angle changes or the vehicle speed changes, the new recalculation is automatically performed. The speed of the CNC steering drive.

The numerical control device can be realized by using a computer, a single chip microcomputer or the like and the corresponding control software. The vehicle body parameters include: the number of rows of wheels, the spacing of each row, the wheelbase of each row, which row or rows are the driving wheels, and which row is the steering deflection wheel (front or rear wheel, drive wheel or non-drive wheel) ), drive wheel diameter, deflection wheel diameter, etc. When it is implemented, it should be adjusted according to the model.

The invention will now be further described in conjunction with specific apparatus. Example 2.

As shown in Figure 1.

A digital control steering system for a wheeled motor vehicle adopts a front layout of a front engine, a front wheel deflection and a front wheel drive, and includes an engine and a gearbox 7 as a forward power source of the motor vehicle, and a front wheel for controlling the synchronous rotation of the left and right wheels. The deflection mechanism 3 and the steering wheel 6, the steering wheel 6 is mounted with a corner digital sensor 5, and the speed sensor 8 is mounted on the driving wheel. The outputs of the corner digital sensor 5 and the speed sensor 8 are connected to the vehicle numerical control device 9, and the vehicle is numerically controlled. One of the outputs of the device 9 is connected to the input of the steering drive 1, the output of the steering drive 1 is connected to an input shaft of the steering planetary gear train 2, the other input shaft of the steering planetary gear train 2 and the output shaft of the engine and gearbox 7 Connected, the two output shafts of the steering planetary gear train 2 are respectively connected to the left and right wheels; the steering wheel 6 is connected to the front wheel deflection mechanism 3 through a delaying elastic link 4, and the front wheel deflection mechanism 3 is respectively connected to the left and right wheels. The steering planetary gear train 2 has a planetary gear train with two degrees of freedom, two input shafts and two output shafts, which can combine the steering drive and the travel drive and distribute the left and right drive wheels through the output shaft; when the steering drive 1 When not in operation, the forward drive input from the engine and the transmission 7 causes the left and right wheels to rotate in the same direction at the same speed, and the vehicle body advances linearly. When steering, the steering drive from the steering drive 1 is driven by the steering planetary gear train 2 and The forward drive synthesis of the engine and the transmission 7 causes the left and right wheels to accelerate symmetrically, one deceleration, and the vehicle body realizes steering; the forward rotation of the steering drive 1 can turn the vehicle body to the left and the right; the steering drive 1 turns The turning angle of the car body can be changed by turning more and less; the steering drive 1 can change the steering speed of the car body by turning fast and slow. The steering drive 1 is a numerically controlled drive, and the steering drive 1 is controlled by a numerical control device 9 for driving the left and right drive wheels to form a rotational speed difference during cornering, so that the difference in driving force or resistance between the left and right wheels in the forward and backward directions constitutes a rotation of the vehicle body about the Z axis. Dynamic torque.

The engine and the transmission 7 and the front wheel deflection mechanism 3 in this embodiment are the same as those of the vehicle. The steering planetary gear train 2 has many kinds of patents or non-patent documents in China and the world, and the present embodiment can be used. No special instructions are required. The steering drive 1 should adopt a numerically controlled steering drive, such as a numerical control hydraulic motor, a numerical control motor, etc., and an open loop or closed loop structure can be adopted. The steering drive 1 is controlled by the numerical control device 9 to drive the left and right drive wheels to form a rotational speed difference when turning, so that the left and right wheels The difference in driving force or resistance in the forward and backward directions constitutes the dynamic moment of the vehicle body rotating about the Z axis. The elastic link 4 can be a spring, a hydraulic damping mechanism or the like. Both the corner digital sensor 5 and the speed sensor 8 can be implemented by using a commercially available conventional sensor. In particular, the speed sensor 8 can be directly realized by using an existing vehicle digital speed sensor. The numerical control device 9 can be implemented by using a Pentium IV or higher computer or a dedicated high performance single chip microcomputer. The steering wheel 6 controls the corner digital sensor 5 to send the steering signal to the numerical control device 9, and the numerical control device 9 calculates the driving speed according to the steering signal and the actual measured body speed, and drives the steering driver 1 to realize steering according to the calculation result, and the steering wheel 6 and the steering wheel 6 A weak elastic link 4 is added between the front wheel deflection mechanism 3 of the conventional structure to achieve a slight lag of the front wheel deflection, so that the steering torque is only generated by the difference between the left and right drive wheels, and the front wheel deflection is only required to achieve pure rolling. CNC device 9 when turning According to the real-time vehicle speed provided by the speed sensor 8 and the steering wheel deflection angle provided by the steering wheel angle digital sensor 5, the steering drive 1 is precisely controlled, which drives the left and right driving wheels to form a rotational speed difference and the turning radius must be caused by the turning of the front wheel. The radii are consistent. The numerical control device software can be programmed according to the vehicle body parameters.

In a specific implementation, the numerical control device 9 can be implemented by using a computer, a single chip microcomputer or the like with a CPU and a storage device.

The working process and principle of this embodiment are as follows:

When steering, the system first sends the steering wheel rotation signal to the numerical control device. The numerical control device calculates the required speed difference between the left and right driving wheels according to the current speed and the angle value and the vehicle body parameters (see the first embodiment), and then according to the speed difference. The speed difference calculates the rotational speed of the steering drive 1 and drives the steering drive 1. The steering drive drives the steering planetary gear train. The steering planetary gear train combines the steering drive with the travel drive and distributes it to the left and right drive wheels through the output shaft. The left and right drive wheels are symmetrically accelerated one by one, and one speed is reduced, so that no side slip steering is realized, and while the left and right wheels realize differential steering, the front wheel deflection mechanism delays the front wheel to rotate to an angle consistent with the forward direction of the front wheel, thereby realizing The pure rolling of the front wheel, when the vehicle speed or the steering wheel angle changes, the numerical control device senses the change immediately in milliseconds or even microseconds and adjusts the speed of the steering drive in time. Therefore, the present invention only needs to calculate the rotational speed of the steering drive. The purpose of controlling the steering time and controlling the steering size is achieved, and the speed can control the steering speed. Period, without further calculates a steering actuator 1 is operated. It can be seen that the frictional force required to turn the vehicle body (including the oscillating process) is caused by the difference between the left and right wheel speeds, which is longitudinal, perpendicular to the direction of the centrifugal force, and the superposition of mutually perpendicular forces is much smaller. The possibility of generating a side slip phenomenon is much smaller, which is the essence of the invention to realize the two-wheel drive to achieve the off-road function without slipping.

Example 2.

as shown in picture 2.

This embodiment differs from the embodiment in that the drive steering system layout is engine front and rear wheel drive. The rest is identical to the first embodiment.

Example 3.

As shown in Figure 3.

This embodiment differs from the embodiment in that the drive steering system is laid out as an engine rear rear wheel drive. The rest is also identical to the first embodiment.

Example four.

As shown in Figure 4.

This embodiment differs from the embodiment in that the drive steering system is laid out in the engine center rear wheel drive. The rest is identical to the first embodiment.

The parts not covered by the present invention are the same as the prior art or can be implemented by the prior art.

- 1 -

Claims

The invention provides a method for digitally controlling steering of a wheeled motor vehicle, characterized in that it comprises the following steps:

In the fifth step, the steering planetary gear train synthesizes the obtained steering drive and the traveling drive, and distributes to the left and right driving wheels through the output shaft, so that the left and right driving wheels are symmetrically accelerated one by one, and one speed is decelerated, thereby realizing no side sliding steering, and the left and right wheels are While achieving differential steering, the deflection wheel deflection mechanism delays the rotation of the deflection wheel to an angle consistent with the forward direction of the deflection wheel to achieve pure rolling of the deflection wheel;

In the sixth step, if the vehicle speed value or the steering wheel angle value changes, repeat steps 1 to 5.

A method of digitally controlling steering of a wheeled motor vehicle according to claim 1, wherein said front wheel deflection mechanism delay is achieved by installing an elastic link between the steering wheel and the front wheel deflection mechanism.

A method of digitally controlling steering of a wheeled motor vehicle according to claim 1, wherein said steering planetary gear train has two degrees of freedom, two input shafts, and two output shafts, which can drive steering and The driving drive is combined and distributed to the left and right driving wheels through the output shaft; when the numerical control steering drive is not moving, the forward driving input causes the left and right wheels to rotate in the same direction at the same speed, and the vehicle body advances linearly; when steering, the numerical control steering drive advances through the planetary gear train Drive synthesis, so that the left and right wheels symmetrical one acceleration, one deceleration, the car body is thus turned; the CNC steering drive forward and reverse can make the car body turn left and right; CNC steering drive can change the car body turn quickly The speed of the steering wheel determines the steering angle by the calculated length of the turning time. The length of the time is determined by the steering wheel steering time and the vehicle speed holding time. If the steering wheel angle changes or the vehicle speed changes, the new CNC steering drive is automatically recalculated. Speed.

A wheeled motor vehicle digitally controlled steering system comprising an engine and a gearbox (7) as a forward power source of the motor vehicle, a deflection wheel deflecting mechanism (3) for controlling the synchronous rotation of the left and right wheels, and a steering wheel (6), characterized in that The steering wheel (6) is mounted with a corner digital sensor (5), and the speed sensor (8) is installed on the driving wheel, and the output of the angle digital sensor (5) and the speed sensor (8) are combined with the vehicle numerical control device (9). Connected, one of the outputs of the on-board numerical control unit (9) is connected to the input of the steering drive (1), the output of the steering drive (1) is connected to an input shaft of the steering planetary gear train (2), and the steering planetary gear train (2) The other input shaft is connected to the output shaft of the engine and the gearbox (7). The two output shafts of the steering planetary gear train (2) are respectively connected to the left and right drive wheels; the steering wheel (6) passes through the elastic link that delays the action together. (4) connected to the deflection wheel deflection mechanism (3), the deflection wheel The deflection mechanism (3) is connected to the left and right deflection wheels, respectively.

The wheeled motor vehicle digitally controlled steering system according to claim 4, wherein the steering planetary gear train (2) has two degrees of freedom, two input shafts, and two output shaft planetary gear trains, which can Steering drive and travel drive are combined and distributed to the left and right drive wheels through the output shaft; when the steering drive (1) is inactive, by the engine and gearbox

(7) The forward drive input sent causes the left and right wheels to rotate in the same direction at the same speed, and the vehicle body advances linearly; when steering, the steering drive sent by the steering drive (1) is driven by the steering planetary gear train (2) and by the engine and the shifting The forward drive synthesis sent by the box (7) causes the left and right wheels to accelerate symmetrically, one deceleration, and the vehicle body realizes steering; the steering drive

(1) The forward and reverse rotation can make the car body turn left and turn right; the steering drive (1) can change the steering angle of the car body by turning more and less; the steering drive (1) can change the car when it is fast and slow. The body turns fast.

The wheeled motor vehicle digitally controlled steering system according to claim 4, wherein the steering drive (1) is a numerically controlled drive, and the steering drive (1) is controlled by a numerical control device (9) for driving the left and right while turning The driving wheels form a rotational speed difference such that the difference in driving force or the resistance of the left and right wheels in the forward and backward directions constitutes a dynamic moment of the vehicle body rotating about the Z axis.