CN111186486A - Three-axis automobile all-wheel steering system and control method thereof - Google Patents
Three-axis automobile all-wheel steering system and control method thereof Download PDFInfo
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- CN111186486A CN111186486A CN202010191843.XA CN202010191843A CN111186486A CN 111186486 A CN111186486 A CN 111186486A CN 202010191843 A CN202010191843 A CN 202010191843A CN 111186486 A CN111186486 A CN 111186486A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model provides a triaxial automobile all-wheel steering system, includes primary shaft, secondary shaft and third axle, primary shaft, secondary shaft and third axle all include two wheels, two steering linkage and a steering mechanism, and steering mechanism is connected to the one end of every steering linkage, and a wheel is connected to the other end, and the steering mechanism and the steering wheel mechanical connection of primary shaft, the steering mechanism electrical connection initiative steering controller of secondary shaft and third axle, initiative steering controller and vehicle control unit communication connection, and primary shaft, secondary shaft and third axle have two wheels of a axle to set actuating mechanism at least. The all-wheel steering control method comprises three modes, wherein the whole vehicle translation mode is convenient for vehicles to realize the lateral parking function and is beneficial to parking stations; the all-wheel steering mode and the front-wheel steering mode are selected based on the critical speed of the high-speed driving, the turning radius of the wheels in the all-wheel steering mode is small, and the trafficability of the low-speed driving is improved; the turning radius of the front wheel steering mode is larger, and the safety of high-speed driving is improved.
Description
Technical Field
The invention relates to the technical field of automobile steering systems, in particular to a three-axis automobile all-wheel steering driving system and a control method thereof.
Background
At present, most of three-axle vehicles in the Chinese market are front-wheel steering or front-wheel steering plus rear-wheel steering configurations, and no all-wheel steering configuration exists. The turning radius of the front wheel steering configuration is the largest, and the trafficability characteristic is the worst; and the front wheel steering and the rear wheel steering configuration can not steer through the intermediate shaft, so that the optimization of the turning radius is limited to a great extent, the optimal turning radius can not be realized, and the passing performance of the whole vehicle is not facilitated.
Moreover, most of the existing three-axle vehicles adopt a middle shaft central direct-drive configuration, so that the optimal matching of the economy and the dynamic performance of the whole vehicle is not facilitated, and the arrangement of a low floor of the whole vehicle is also not facilitated.
Disclosure of Invention
The invention provides an all-wheel steering system of a three-axle automobile and a control method thereof, aiming at solving the defects that the existing three-axle automobile cannot realize the minimum turning radius, is not beneficial to the trafficability of the whole automobile, mostly adopts a central direct-drive configuration of an intermediate shaft, is not beneficial to the optimal matching of the economy and the dynamic property of the whole automobile, is not beneficial to the arrangement of a low floor of the whole automobile and the like.
The invention adopts the following technical scheme:
the utility model provides a triaxial car all-wheel steering system, includes primary shaft, secondary shaft and third axle, primary shaft, secondary shaft and third axle all include two wheels, two steering linkage and a steering mechanism, every steering linkage's one end is connected steering mechanism, the other end is connected one the wheel, the epaxial steering mechanism of primary shaft and steering wheel mechanical connection, the epaxial steering mechanism electric connection of secondary shaft and third has the initiative steering control ware, initiative steering control ware and vehicle control unit communication connection, primary shaft, secondary shaft and third axle have two wheels of an axle at least to set actuating mechanism.
In a first preferred aspect, a drive mechanism is provided for each of the two wheels of any one of the first shaft, the second shaft, and the third shaft.
In a second preferred aspect, all the wheels of any two of the first shaft, the second shaft, and the third shaft are provided with the driving mechanism.
In a third preferred aspect, all the wheels on the first shaft, the second shaft and the third shaft are provided with the driving mechanism.
Specifically, the driving mechanism comprises a driving motor and a transmission, wherein the output end of the driving motor is mechanically connected with the wheels through the transmission, the driving motor is electrically connected to a motor controller, and the motor controller is in communication connection with the vehicle control unit.
Furthermore, the transmission comprises one or more combinations of the speed change mechanism and the speed reduction mechanism, and the optimal matching of the whole vehicle dynamic property and the economy can be better realized through the reasonable matching of the speed change mechanism and the speed reduction mechanism.
The invention also provides a control method of the three-axis automobile all-wheel steering system, which comprises three turning modes, namely an entire automobile translation mode, an all-wheel turning mode and a front wheel turning mode, wherein in the entire automobile translation mode, all steering wheels are in the same direction; in the all-wheel turning mode, all wheels rotate and the rotation centers are intersected at one point; in the front wheel turning mode, only the front axle wheels are turned, and the rear axle wheels keep running in a straight line; the whole vehicle translation mode is controlled through a cab button, whether the whole vehicle translation mode is started or not is determined according to the intention of a driver, the all-wheel turning mode and the front-wheel turning mode are controlled by instructions of a whole vehicle controller, the whole vehicle controller judges whether the current vehicle speed is greater than the set high-speed driving critical vehicle speed or not, if yes, the whole vehicle controller automatically enters the front-wheel turning mode, sends front-wheel turning mode instructions to the active steering controller, and controls the rear two wheels to keep running in a straight line; otherwise, the whole vehicle controller automatically enters an all-wheel turning mode, sends an all-wheel turning mode instruction to the active steering controller, and controls the rear two-shaft wheels to actively follow the front wheels to steer.
Furthermore, the critical speed of the high-speed vehicle is manually adjusted through a cab button and is set according to driving habits of different drivers.
Further, the critical speed of the high-speed vehicle is 80 km/h.
Further, the first shaft, the second shaft and the third shaft determine whether a driving function is provided according to requirements, the whole vehicle driving system is divided into a 6 x 4 driving configuration, a 6 x 2 driving configuration and a 6 x 6 all-wheel driving configuration, the 6 x 4 driving configuration can be optionally provided with two shafts in the three shafts according to requirements, the 6 x 2 driving configuration can be optionally provided with one shaft in the three shafts according to requirements, and the 6 x 6 driving configuration is provided with driving in the three shafts.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the three axles of the invention all have the steering function, can realize all-wheel steering, can reduce the turning radius, and effectively improve the trafficability characteristic of the whole vehicle. The invention is a distributed driving system configuration, and can solve the problem that the central direct drive cannot realize low floor arrangement; through the flexible matching of the three axle driving mechanisms, the requirements of different customers can be met, the three-axle driving mechanism is suitable for various road conditions, and the overall vehicle operation stability is effectively improved.
2. The control method comprises three modes, namely a whole vehicle translation mode can facilitate the vehicle to realize the lateral parking function, and is beneficial to the vehicle parking station; the vehicle controller controls the all-wheel turning mode and the front-wheel turning mode based on the critical speed of high-speed driving, wherein the wheel turning radius of the all-wheel turning mode is small, the channel width is small, the maneuverability is high, namely the turning sensitivity is high, and the trafficability of low-speed driving is improved; the turning radius of the front wheel turning mode is larger, namely the turning sensitivity is lower, and the safety of high-speed driving is improved.
Drawings
Fig. 1 is a first structural schematic diagram of the present invention.
Fig. 2 is a second structural schematic diagram of the present invention.
Fig. 3 is a third schematic structural diagram of the present invention.
Fig. 4 is a first turning mode diagram of the present invention.
FIG. 5 is a second schematic view of the turning mode of the present invention.
FIG. 6 is a third schematic view of the turning mode of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details. Well-known components, methods and processes are not described in detail below.
The invention provides a three-axle automobile all-wheel steering system, which comprises a first axle 10, a second axle 20 and a third axle 30, and is shown in figure 1. The first, second and third axles 10, 20, 30 each comprise two wheels 11, a steering mechanism 12 and two steering rods 13. Each tie rod 13 is connected at one end to a steering mechanism 12 and at the other end to one wheel 11. The steering mechanism 12 on the first shaft 10 is mechanically connected with the steering wheel 1, the steering mechanisms 12 on the second shaft 20 and the third shaft 30 are electrically connected with an active steering controller 14, the active steering controller 14 is in communication connection with the vehicle control unit 2, and two wheels of at least one shaft of the first shaft 10, the second shaft 20 and the third shaft 30 are provided with driving mechanisms.
As shown in fig. 1, all the wheels 11 of the second shaft 20 and the third shaft 30 are provided with the driving mechanism, but it is needless to say that the four wheels 11 of the first shaft 10 and the second shaft 20 may be provided with the driving mechanism, or the four wheels 11 of the first shaft 10 and the third shaft 30 may be provided with the driving mechanism.
As shown in fig. 2, a drive mechanism is provided to the two wheels 11 of the second shaft 20. Of course, it is also possible that both wheels 11 of the first shaft 10 are provided with a drive mechanism, or that both wheels 11 of the third shaft 30 are provided with a drive mechanism.
As shown in fig. 3, all the wheels 11 on the first shaft 10, the second shaft 20 and the third shaft 30 are provided with the driving mechanism.
Referring to fig. 1, the driving mechanism includes a driving motor 41 and a transmission 42, an output end of the driving motor 41 is mechanically connected with the wheel 11 through the transmission, the driving motor 41 is electrically connected to a motor controller 411, and the motor controller 411 is in communication connection with the vehicle control unit 2.
The transmission 42 comprises one or more combinations of a speed change mechanism and a speed reduction mechanism, and the optimal matching of the vehicle dynamic property and the economy can be better realized through the reasonable matching of the speed change mechanism and the speed reduction mechanism.
The control method of the three-axis automobile all-wheel steering system comprises three turning modes, namely an entire automobile translation mode, an all-wheel turning mode and a front wheel turning mode. Referring to fig. 4, in the whole vehicle translation mode, all the steering wheels face in the same direction, so that the vehicle can conveniently realize the side parking function, and the vehicle parking station is facilitated. Referring to fig. 5, in the all-wheel turning mode, all the wheels 11 are turned and the turning centers meet at a point, and the turning radius is small, that is, the turning sensitivity is high, so that the trafficability of the vehicle running at a low speed is improved. Referring to fig. 6, in the front wheel turning mode, only the front axle wheels are turned, and the rear axle wheels keep running straight, the turning radius is larger, i.e. the turning sensitivity is lower, and the safety of high-speed running is improved.
The whole vehicle translation mode is controlled through a cab button, and whether the vehicle translation mode is started or not is determined according to the will of a driver. The whole-wheel turning mode and the front-wheel turning mode are controlled by instructions of the whole-wheel controller, the whole-wheel controller judges whether the current vehicle speed is greater than the set critical vehicle speed of high-speed driving, if so, the whole-wheel controller automatically enters the front-wheel turning mode, sends a front-wheel turning mode instruction to the active steering controller, and controls the rear two wheels to keep running in a straight line; otherwise, the whole vehicle controller automatically enters an all-wheel turning mode, sends an all-wheel turning mode instruction to the active steering controller, and controls the rear two-shaft wheels to actively follow the front wheels to steer.
The critical speed of the high-speed running is manually adjusted through a cab button and is set according to the driving habits of different drivers, preferably 80 km/h.
The first shaft, the second shaft and the third shaft determine whether a driving function is provided according to requirements, the whole vehicle driving system is divided into a 6 x 4 driving configuration, a 6 x 2 driving configuration and a 6 x 6 all-wheel driving configuration, the 6 x 4 driving configuration can select two shafts in the three shafts according to requirements, the 6 x 2 driving configuration can select one shaft in the three shafts according to requirements, and the 6 x 6 driving configuration is provided with driving in the three shafts.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (10)
1. The utility model provides a triaxial car all-wheel steering system which characterized in that: including primary shaft, secondary shaft and third axle, primary shaft, secondary shaft and third axle all include two wheels, two steering linkage and a steering mechanism, every steering linkage's one end is connected steering mechanism, the other end is connected one the wheel, the epaxial steering mechanism of primary shaft and steering wheel mechanical connection, the epaxial steering mechanism electric connection of secondary shaft and third has the initiative steering controller, initiative steering controller and vehicle control unit communication connection, primary shaft, secondary shaft and third axle have two wheels of a axle at least to set actuating mechanism.
2. The three-axle vehicle all-wheel steering system of claim 1, wherein: and two wheels of any one of the first shaft, the second shaft and the third shaft are provided with driving mechanisms.
3. The three-axle vehicle all-wheel steering system of claim 1, wherein: all wheels of any two shafts of the first shaft, the second shaft and the third shaft are provided with the driving mechanism.
4. The three-axle vehicle all-wheel steering system of claim 1, wherein: all wheels on the first shaft, the second shaft and the third shaft are provided with the driving mechanism.
5. The three-axle automotive all-wheel steering system according to any one of claims 1 to 4, wherein: the driving mechanism comprises a driving motor and a transmission, the output end of the driving motor is mechanically connected with the wheels through the transmission, the driving motor is electrically connected to a motor controller, and the motor controller is in communication connection with the whole vehicle controller.
6. The three-axle, all-wheel steering system of claim 5, wherein: the transmission includes one or more combinations of a variator mechanism and a reduction mechanism.
7. The control method of the three-axle vehicle all-wheel steering system according to claim 1, wherein the control method comprises three turning modes, namely a vehicle translation mode, an all-wheel turning mode and a front-wheel turning mode, wherein all the steering wheels are in the same direction in the vehicle translation mode; in the all-wheel turning mode, all wheels rotate and the rotation centers are intersected at one point; in the front wheel turning mode, only the front axle wheels are turned, and the rear axle wheels keep running in a straight line; the whole vehicle translation mode is controlled through a cab button, whether the whole vehicle translation mode is started or not is determined according to the intention of a driver, the all-wheel turning mode and the front-wheel turning mode are controlled by instructions of a whole vehicle controller, the whole vehicle controller judges whether the current vehicle speed is greater than the set high-speed driving critical vehicle speed or not, if yes, the whole vehicle controller automatically enters the front-wheel turning mode, sends front-wheel turning mode instructions to the active steering controller, and controls the rear two wheels to keep running in a straight line; otherwise, the whole vehicle controller automatically enters an all-wheel turning mode, sends an all-wheel turning mode instruction to the active steering controller, and controls the rear two-shaft wheels to actively follow the front wheels to steer.
8. The control method of the three-axle vehicle all-wheel steering system according to claim 7, wherein: the critical speed of the high-speed vehicle is manually adjusted through a cab button and is set according to driving habits of different drivers.
9. The control method of the three-axle vehicle all-wheel steering system according to claim 7, wherein: the critical speed of the high-speed driving is 80 km/h.
10. The control method of the three-axle vehicle all-wheel steering system according to claim 7, wherein: the first shaft, the second shaft and the third shaft determine whether a driving function is provided or not according to requirements, the whole vehicle driving system is divided into a 6 x 4 driving configuration, a 6 x 2 driving configuration and a 6 x 6 all-wheel driving configuration, the 6 x 4 driving configuration can select two shafts in the three shafts as required, the 6 x 2 driving configuration can select one shaft in the three shafts as required, and the 6 x 6 driving configuration is provided with driving in the three shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191843.XA CN111186486A (en) | 2020-03-18 | 2020-03-18 | Three-axis automobile all-wheel steering system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191843.XA CN111186486A (en) | 2020-03-18 | 2020-03-18 | Three-axis automobile all-wheel steering system and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111186486A true CN111186486A (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010191843.XA Pending CN111186486A (en) | 2020-03-18 | 2020-03-18 | Three-axis automobile all-wheel steering system and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319602A (en) * | 2020-11-16 | 2021-02-05 | 吉林大学 | 6X4 electric automobile chassis system capable of achieving all-wheel steering and steering control method |
| CN114954656A (en) * | 2022-06-15 | 2022-08-30 | 厦门金龙联合汽车工业有限公司 | Extensible modular skateboard chassis and vehicle |
-
2020
- 2020-03-18 CN CN202010191843.XA patent/CN111186486A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319602A (en) * | 2020-11-16 | 2021-02-05 | 吉林大学 | 6X4 electric automobile chassis system capable of achieving all-wheel steering and steering control method |
| CN112319602B (en) * | 2020-11-16 | 2023-10-31 | 吉林大学 | 6X4 electric automobile chassis system capable of realizing all-wheel steering and steering control method |
| CN114954656A (en) * | 2022-06-15 | 2022-08-30 | 厦门金龙联合汽车工业有限公司 | Extensible modular skateboard chassis and vehicle |
| CN114954656B (en) * | 2022-06-15 | 2024-05-24 | 厦门金龙联合汽车工业有限公司 | Expandable modularized skateboard chassis and vehicle |
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