CN112278070B - Independent steering device and front wheel steering system using same - Google Patents
Independent steering device and front wheel steering system using same Download PDFInfo
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- CN112278070B CN112278070B CN202011139291.4A CN202011139291A CN112278070B CN 112278070 B CN112278070 B CN 112278070B CN 202011139291 A CN202011139291 A CN 202011139291A CN 112278070 B CN112278070 B CN 112278070B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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Abstract
The invention relates to the technical field of automobile steering, in particular to an independent steering device and a front wheel steering system using the same. The independent steering device comprises a first steering actuating mechanism, a second steering actuating mechanism and a linkage mechanism. Each wheel can independently determine an optimum slip angle to provide optimum longitudinal and lateral control forces as the condition of the road surface changes. When the vehicle runs on a road surface with uniform adhesion coefficient, the first steering actuating mechanism and the second steering actuating mechanism can be controlled by the linkage mechanism, so that the left wheel and the right wheel are in a synchronous steering state; when the vehicle turns on the road with the separated adhesion coefficients, the left and right wheels independently deflect at proper angles according to the difference of the adhesion coefficients of the road; when braking is performed on a road surface with a low adhesion coefficient, the left and right wheels deflect in opposite directions to perform auxiliary braking. Therefore, the scheme of the application has the effects of improving the running stability of the vehicle and shortening the braking distance on the low-adhesion road surface.
Description
Technical Field
The invention relates to the technical field of automobile steering, in particular to an independent steering device and a front wheel steering system using the same.
Background
The steering system is an important safety and control device on the automobile, and the performance of the steering system is directly related to the control stability of the automobile and the riding comfort of passengers. Outstanding a steering system not only can guarantee passenger and pedestrian's personal safety furthest, can bring good driving experience for the driver moreover. From the birth of automobiles to date, automobile steering systems have experienced: traditional purely mechanical steering systems, hydraulic power steering systems, electro-hydraulic power steering systems and electric power steering systems. At present, electric power steering systems have become popular in passenger vehicles. In recent years, advanced automobile steering technologies such as a front wheel active steering technology and a steer-by-wire technology have become research hotspots of various manufacturers and scientific research institutes. Currently, front wheel active steering systems have been introduced by bmw corporation, while steer-by-wire systems are introduced by japanese corporation, indicating that these advanced automotive steering technologies are being gradually put to industrialization. The all-wheel independent driving-independent steering vehicle is a novel vehicle developed in the international automobile industry in recent years, and an axle connecting left and right wheels in the traditional vehicle is replaced by a novel wheel independent driving-braking-steering mechanism, so that the vehicle obtains driving redundancy, and the small-turning-radius steering of the vehicle is realized. Each wheel can independently determine the optimal longitudinal slip rate and the optimal slip angle operating point according to the condition change of the road surface, thereby providing the optimal longitudinal and lateral control force.
The prior patent with the publication number of CN102030007B discloses a method for obtaining the whole vehicle dynamic control quantity of an independent driving-independent steering vehicle. According to the technical scheme, the vehicle state information data required by the vehicle dynamics control is obtained by collecting the driving operation data of a driver such as the steering wheel angle, the opening angle of an accelerator pedal, the opening angle of a brake pedal and the like, collecting the basic information of vehicle kinematics and dynamics and combining an information fusion method. And then constructing a vehicle driving expert pattern library according to the data to generate a complete vehicle dynamics control target expected value, and judging and processing according to the feasibility of the complete vehicle dynamics control quantity to obtain the complete vehicle dynamics control quantity. The technical scheme realizes a control algorithm of four-wheel independent steering.
A paper entitled "research on stability and energy saving control of a four-wheel-drive-by-wire independent drive in-wheel motor electric vehicle" discloses an ASR control strategy based on road surface recognition that calculates a road surface adhesion coefficient from a wheel speed, a longitudinal acceleration, a lateral acceleration, and a driving torque, and controls each wheel separately from the road surface adhesion coefficient and a vehicle running state.
The above-mentioned independent steering system has the following technical drawbacks: since each wheel controls steering independently, four-wheel steering does not interfere with each other. When a vehicle runs on an uneven road surface along a straight line, the control of the independent steering mechanism is affected when the vehicle vibrates and jolts or is interfered by side wind, and the independent steering mechanism does not have a steering trapezoid mechanism, so that the Ackerman relation of the left wheel and the right wheel cannot be strictly ensured, the consistency of the corner control of the left wheel and the right wheel is reduced, and the stability of the direction of the vehicle running in the straight line is reduced.
Disclosure of Invention
In view of the defects of the prior art, one of the objects of the present invention is to provide an independent steering apparatus, which has the advantages of achieving independent steering of the left and right wheels and having good straight-line driving stability.
The above object of the present invention is achieved by the following technical solutions: an independent steering device comprises a first steering executing mechanism, a second steering executing mechanism and a linkage mechanism for controlling the first steering executing mechanism and the second steering executing mechanism to switch between a linkage state and a non-linkage state.
By adopting the technical scheme, the steering of the left wheel and the steering of the right wheel of the automobile are respectively and independently controlled through the first steering actuating mechanism and the second steering actuating mechanism. Each wheel can independently determine an optimum slip angle to provide optimum longitudinal and lateral control forces as the condition of the road surface changes. When the vehicle runs on a road surface with uniform adhesion coefficient, the first steering executing mechanism and the second steering executing mechanism can be controlled through the linkage mechanism, so that the left wheel and the right wheel are in a synchronous steering state, and the conditions of inconsistent deflection directions and inconsistent deflection amounts of the left wheel and the right wheel during running along a straight line can be avoided; when the vehicle turns on the road with the separated adhesion coefficients, the left and right wheels independently deflect at proper angles according to the difference of the adhesion coefficients of the road; when braking is performed on a road surface with a low adhesion coefficient, the left and right wheels deflect in opposite directions to perform auxiliary braking. Therefore, the steering device has the effects of improving the running stability of the vehicle and shortening the braking distance on a low-adhesion road surface.
The present invention in a preferred example may be further configured to: the first steering executing mechanism comprises a first driving piece, a first output gear driven by the first driving piece to rotate and a first steering rack meshed with the first output gear, the left end of the first steering rack is rotatably connected with a first transmission rod, and one end, far away from the first steering rack, of the first transmission rod is rotatably connected with a left wheel assembly; the second steering executing mechanism comprises a second driving piece, a second output gear driven by the second driving piece to rotate, and a second steering rack meshed with the second output gear, the right end of the second steering rack is rotatably connected with a second transmission rod, and one end, far away from the second steering rack, of the second transmission rod is rotatably connected with a right wheel assembly.
By adopting the technical scheme, the first driving part drives the first output gear to rotate, the second driving part drives the second output gear to rotate, the first steering rack and the second steering rack are driven to move in the process that the first output gear and the second output gear rotate, and the wheel assemblies on two sides are finally driven to rotate after power is transmitted by the first transmission rod and the second transmission rod, so that the wheel assemblies on two sides are respectively steered.
The present invention in a preferred example may be further configured to: the linkage mechanism comprises a transmission shaft positioned between a first steering actuating mechanism and a second steering actuating mechanism, an electromagnetic clutch is mounted on the transmission shaft, the electromagnetic clutch comprises an electromagnetic coil, a driving drum, a driving disc and a driven disc, the driving disc is fixedly connected with the transmission shaft through the driving drum, a first linkage gear meshed with a first steering rack is connected onto the driven disc, and a second linkage gear meshed with a second steering rack is connected onto the transmission shaft.
By adopting the technical scheme, the synchronous and asynchronous states of the first linkage gear and the second linkage gear are realized by the attraction and separation of the driving disc and the driven disc of the electromagnetic clutch. When the first linkage gear and the second linkage gear are synchronous, the wheel assemblies on the two sides turn synchronously, and when the first linkage gear and the second linkage gear are asynchronous, the wheel assemblies on the two sides respectively turn.
The present invention in a preferred example may be further configured to: the second driving piece comprises a planetary gear driving assembly, a steering wheel and a driving motor which cooperatively control the output steering of the planetary gear driving assembly.
By adopting the technical scheme, the driving motor and the steering wheel cooperatively control the planetary gear to output torque to control the steering of the wheels. When the vehicle is in a low-speed running state, the driving motor can assist in amplifying the rotation angle input by the steering wheel, so that a driver can conveniently operate the vehicle to steer in a large angle in the low-speed state; when the vehicle is in a high-speed driving state, the driving motor can assist in reducing the rotation angle input by the steering wheel, and the danger caused by overlarge steering angle in the high-speed state of the vehicle is avoided.
Another object of the present invention is to provide a front wheel steering system which is advantageous in that it has a superior straight running stability.
The above object of the present invention is achieved by the following technical solutions: a front wheel steering system comprises a steering wheel and a road sensing motor, wherein a worm wheel is fixedly arranged on a rotating shaft of the steering wheel, a worm meshed with the worm wheel is fixedly arranged on an output shaft of the road sensing motor, and the front wheel steering system also comprises the independent steering device without a planetary gear driving assembly.
By adopting the technical scheme, each wheel can independently determine the optimal deflection angle according to the condition change of the road surface through the independent steering device, so that the optimal longitudinal and lateral control force is provided. When the vehicle runs along a straight line, the first steering executing mechanism and the second steering executing mechanism can be controlled through the linkage mechanism, so that the left wheel and the right wheel are in a synchronous steering state, and the straight line running stability of the steering device is improved.
The present invention in a preferred example may be further configured to: having an independent steering mode, a non-independent steering mode and an auxiliary braking mode;
when the steering mode is switched to the non-independent steering mode, the electromagnetic clutch is closed;
when the independent steering mode or the auxiliary braking mode is switched, the electromagnetic clutch is not attracted, and the driving disc and the driven disc of the electromagnetic clutch are separated.
By adopting the technical scheme, the vehicle is assisted to stably run, steer and brake along a straight line by switching three different modes, so that a driver obtains good driving experience.
The present invention in a preferred example may be further configured to: when the vehicle is in a non-independent steering mode, the main controller calculates a rotation angle which should be output by the first driving part by integrating the driving operation data of the driver and the vehicle state information data, and sends the angle information to the controller of the first driving part, and the first driving part drives the left wheel assembly and the right wheel assembly to perform synchronous steering;
when the vehicle is in the independent steering mode, the main controller calculates the rotation angles which should be output by the first driving part and the second driving part by integrating the driving operation data of the driver and the vehicle state information data, and respectively sends the angle information to the controllers of the first driving part and the second driving part, and the first driving part and the second driving part respectively drive the left wheel assembly and the right wheel assembly to complete independent steering;
when the vehicle is in the auxiliary braking mode, the main controller calculates a required braking toe-in angle or a required front flare angle according to the vehicle state information data, angle information is respectively sent to the controllers of the first driving piece and the second driving piece, and the first driving piece and the second driving piece respectively drive the left wheel assembly and the right wheel assembly to toe-in or front flare so as to complete auxiliary braking.
By adopting the technical scheme, when the vehicle is in the independent steering mode, the main controller integrates the driving operation data of the driver and the vehicle state information data to control the left wheel assembly and the right wheel assembly to steer synchronously. When the steering wheel is in the non-independent steering mode, the main controller controls the left wheel assembly and the right wheel assembly to independently steer. In the auxiliary braking mode, the left and right wheel assemblies toe or flare to apply auxiliary braking.
The present invention in a preferred example may be further configured to: the first driving part and the second driving part can feed back actual output corners and working current to respective controllers when working, actual corners of the motor can be corrected according to target corners provided by the main controller, meanwhile, currents of the first driving part and the second driving part can also be fed back to the main controller, the main controller sends current information to the road feel motor, the road feel motor controller synthesizes steering wheel corner data and executive motor current data, and the road feel motor is controlled to generate simulated road feel.
Through adopting above-mentioned technical scheme, through way sense motor cooperation worm gear mechanism simulation way sense for can carry out feedback adjustment according to the way sense of simulation when driver operation steering wheel turns to, the driver's operation of being convenient for.
It is still another object of the present invention to provide a front wheel steering system that utilizes a planetary gear assembly.
The above object of the present invention is achieved by the following technical solutions: a front wheel steering system comprising an independent steering arrangement using the planetary gear assembly described above.
By adopting the technical scheme, each wheel can independently determine the optimal deflection angle according to the condition change of the road surface through the independent steering device, so that the optimal longitudinal and lateral control force is provided. When the vehicle runs along a straight line, the first steering executing mechanism and the second steering executing mechanism can be controlled through the linkage mechanism, so that the left wheel and the right wheel are in a synchronous steering state, and the straight line running stability of the steering device is improved. Meanwhile, the independent steering device can perform adaptive adjustment on the size of the turning angle according to the speed of the vehicle.
The present invention in a preferred example may be further configured to: having an independent steering mode, a non-independent steering mode and an auxiliary braking mode;
when the vehicle is in the non-independent steering mode, the steering wheel rotates, the main controller calculates the superposed steering angle of the non-independent steering according to the vehicle state information data, and controls the second driving piece to execute the non-independent active steering;
when the vehicle is in the independent steering mode, the main controller calculates the superposition rotation angle required by each of the two steering wheels according to the vehicle state information data, and sends control signals to the first driving piece and the second driving piece respectively, so that the left wheel assembly and the right wheel assembly are controlled to complete independent steering according to the calculated superposition rotation angle;
when the vehicle is in the auxiliary braking mode, the required braking toe-in angle or the required front opening angle is calculated according to the vehicle state information data, and control signals are respectively sent to the first driving piece and the second driving piece to control the left wheel assembly and the right wheel assembly to toe-in or to extend forward so as to complete auxiliary braking.
By adopting the technical scheme, when the vehicle is in the non-independent steering mode, the main controller calculates the superposition steering angle to assist steering according to the vehicle state information. When the vehicle is in the independent steering mode, the main controller calculates and obtains a corner of the first driving piece driving the left wheel assembly and a superimposed corner of the right wheel assembly to control independent steering of the wheel assemblies on the two sides. When the auxiliary braking mode is adopted, the toe-in of the wheels on two sides is controlled to assist the braking.
In summary, the invention includes at least one of the following beneficial technical effects:
1. in the independent steering mode, each wheel can independently determine the optimal deflection angle according to the condition change of the road surface, so that the optimal longitudinal and lateral control force is provided;
2. when the steering device is in the non-independent steering mode, the first steering executing mechanism and the second steering executing mechanism can be controlled through the linkage mechanism, so that the left wheel and the right wheel are in a synchronous steering state, the conditions of inconsistent deflection directions and inconsistent deflection amounts of the left wheel and the right wheel when the vehicle runs on a road surface with uniform adhesion coefficients are avoided, and the linear running stability of the vehicle provided with the steering device is improved;
3. when the vehicle brakes on a low-adhesion-coefficient road surface, the left and right vehicles can be toe-in or forward-tensioned through the first steering actuating mechanism and the second steering actuating mechanism, so that auxiliary braking is performed;
4. when one of the first steering executing mechanism and the second steering executing mechanism breaks down, the steering system can still normally operate under the driving of the other steering executing mechanism (the steering system is switched to the non-independent steering mode), and the reliability of the steering system and the safety of the running of the automobile are ensured.
Drawings
FIG. 1 is a schematic structural diagram of the first embodiment;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is a schematic cross-sectional view of a linkage mechanism according to one embodiment;
FIG. 4 is a schematic structural view of the second embodiment;
FIG. 5 is a schematic structural view of the third embodiment;
FIG. 6 is a schematic view of the independent steering device in a non-independent steering mode in the third embodiment;
FIG. 7 is a schematic view of the independent steering apparatus in the independent steering mode in the third embodiment;
FIG. 8 is a schematic view of toe-in of the wheel assembly when the independent steering apparatus of the third embodiment is in the auxiliary braking mode;
fig. 9 is a schematic view of the front tension of the wheel assembly when the independent steering apparatus of the third embodiment is in the auxiliary braking mode.
Reference numerals: 1. a first steering actuator; 2. a second steering actuator; 3. a linkage mechanism; 4. a first driving member; 5. a first output gear; 6. a first steering rack; 7. a first drive lever; 8. a left side wheel assembly; 9. a second driving member; 10. a second output gear; 11. a second steering rack; 12. a second transmission rod; 13. a right side wheel assembly; 14. a drive shaft; 15. an electromagnetic clutch; 16. a driving disk; 17. a driven plate; 18. a first linkage gear; 19. a second linkage gear; 20. a planetary gear drive assembly; 21. a steering wheel; 22. a drive motor; 23. a road sensing motor; 24. a worm gear; 25. a worm; 26. an electromagnetic coil; 27. the drum is driven.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1, an independent steering apparatus includes a first steering actuator 1, a second steering actuator 2, and a link mechanism 3 that controls the first steering actuator 1 and the second steering actuator 2 to switch between a linked state and an uncoupled state.
As shown in fig. 1 and 2, the first steering actuator 1 includes a first driving member 4, a first output gear 5 driven by the first driving member 4 to rotate, and a first steering rack 6 engaged with the first output gear 5, a first transmission rod 7 is rotatably connected to a left end of the first steering rack 6, and a left wheel assembly 8 is rotatably connected to an end of the first transmission rod 7 away from the first steering rack 6.
As shown in fig. 1 and 2, the second steering actuator 2 includes a second driving member 9, a second output gear 10 driven by the second driving member 9 to rotate, and a second steering rack 11 engaged with the second output gear 10, a second transmission rod 12 is rotatably connected to a right end of the second steering rack 11, and a right wheel assembly 13 is rotatably connected to an end of the second transmission rod 12 away from the second steering rack 11.
In this embodiment, the first driving member 4 and the second driving member 9 are both actuated by a motor-driven speed reduction mechanism.
As shown in fig. 2 and 3, the linkage mechanism 3 includes a transmission shaft 14 between the first steering actuator 1 and the second steering actuator 2, an electromagnetic clutch 15 is mounted on the transmission shaft 14, and the electromagnetic clutch 15 includes an electromagnetic coil 26, a drive drum 27, a drive disk 16, and a driven disk 17. The driving disk 16 of the electromagnetic clutch 15 is connected with the driving drum 27 through splines, the driving drum 27 is connected with the transmission shaft 14 through keys, and the driving disk 16 is driven to rotate together by the driving drum 27 when the transmission shaft 14 rotates. A driven disc 17 of the electromagnetic clutch 15 is connected with a first linkage gear 18 sleeved on the transmission shaft 14 through a spline. A first linkage gear 18 splined to the driven disc 17 engages the first steering rack 6 and a second linkage gear 19 connected to the drive shaft 14 engages the second steering rack 11. When the electromagnetic clutch 15 is attracted, the driven disc 17 rotates along with the driving disc 16, the first linkage gear 18 and the second linkage gear 19 rotate synchronously, and the left wheel assembly 8 and the right wheel assembly 13 are driven by the first driving piece 4 to perform non-independent steering action; when the electromagnetic clutch 15 is not engaged, the driving disk 16 and the driven disk 17 rotate independently, and the left wheel assembly 8 and the right wheel assembly 13 are driven by the first driving piece 4 and the second driving piece 9 respectively to perform independent steering actions.
Example two:
as shown in fig. 4, an independent steering device, which is different from the first embodiment only in that the second driving member 9 includes a planetary gear drive assembly 20, and a steering wheel 21 and a driving motor 22 which cooperatively control the output steering of the planetary gear drive assembly 20. The structure and transmission principle of the second driving element 9 are the same as those of the BMW active steering system (refer to the invention patent with the publication number of CN106573639B specifically), when the vehicle is in a low-speed driving state, the driving motor 22 will assist in amplifying the rotation angle input by the steering wheel 21, so that the driver can operate the vehicle in a large-angle steering manner more conveniently in the low-speed state; when the vehicle is in a high-speed driving state, the driving motor 22 can assist in reducing the rotation angle input by the steering wheel 21, and the danger caused by the overlarge steering angle in the high-speed state of the vehicle is avoided.
Example three:
as shown in fig. 5, a front wheel steering system using the independent steering apparatus according to the first embodiment includes a steering wheel 21 and a road-sensing motor 23. A worm wheel 24 is fixed to a rotating shaft of the steering wheel 21, and is engaged with a worm 25 on an output shaft of the road-sensing motor 23 through the worm wheel 24. The road feel motor applies a resistive torque to the steering wheel 21 to simulate road feel. The system has an independent steering mode, a non-independent steering mode, and an auxiliary braking mode.
As shown in fig. 6, the arrow direction in the figure is the vehicle traveling direction. When the steering mode is switched to the non-independent steering mode, the electromagnetic clutch 15 is closed, the first linkage gear 18 and the second linkage gear 19 rotate synchronously, and the first steering rack 6 and the second steering rack 11 meshed with the first linkage gear 18 and the second linkage gear 19 move synchronously. The main controller calculates the rotation angle that the first driving part 4 should output by integrating the driving operation data of the driver and the vehicle state information data, and sends the angle information to the controller of the first driving part 4, and the first driving part 4 drives the left wheel assembly 8 and the right wheel assembly 13 to perform non-independent steering. The second driver 9 acts as a redundant driver for the first driver 4 in the non-independent steering mode, improving system reliability.
As shown in fig. 7, when the steering mode is switched to the independent steering mode, the electromagnetic clutch 15 is not engaged, the first linkage gear 18 and the second linkage gear 19 rotate independently, and the first steering rack 6 and the second steering rack 11 move independently. The main controller calculates the rotation angles which should be output by the first driving part 4 and the second driving part 9 by integrating the driving operation data of the driver and the vehicle state information data, the angle information is respectively sent to the controllers of the first driving part 4 and the second driving part 9, and the first driving part 4 and the second driving part 9 respectively drive the left wheel assembly 8 and the right wheel assembly 13 to complete independent steering.
As shown in fig. 8 and 9, when the auxiliary braking mode is switched, the electromagnetic clutch 15 is not engaged, the first and second interlocking gears 18 and 19 rotate independently, and the first and second steering racks 6 and 11 move independently. The main controller calculates a required braking toe-in angle or a required front opening angle according to the vehicle state information data, the angle information is respectively sent to the controllers of the first driving piece 4 and the second driving piece 9, and the first driving piece 4 and the second driving piece 9 respectively drive the left wheel assembly 8 and the right wheel assembly 13 to perform toe-in or front opening braking.
When the first driving part 4 and the second driving part 9 work, the actual output corner and the working current are fed back to respective controllers, the controllers correct the actual corner of the motor according to the target corner provided by the main controller, meanwhile, the currents of the first driving part 4 and the second driving part 9 are also fed back to the main controller, the main controller sends current information to the road feel motor 23, the road feel motor 23 controller synthesizes steering wheel 21 corner data and execution motor current data, and the road feel motor 23 is controlled to generate analog road feel.
Example four:
a front wheel steering system using the independent steering apparatus according to the second embodiment has an independent steering mode, a non-independent steering mode, and an auxiliary braking mode.
When the steering mode is switched to the non-independent steering mode, the electromagnetic clutch 15 is closed, the first linkage gear 18 and the second linkage gear 19 rotate synchronously, and the first steering rack 6 and the second steering rack 11 move synchronously. When the steering wheel 21 drives and rotates the left wheel assembly 8 and the right wheel assembly 13 to steer, the main controller calculates the superimposed steering angle of the non-independent steering according to the vehicle state information data, and controls the second driving piece 9 to execute the non-independent active steering. The first drive 4 acts as a redundant drive in the non-independent steering mode.
When the steering mode is switched to the independent steering mode, the electromagnetic clutch 15 is not attracted, the first linkage gear 18 and the second linkage gear 19 rotate independently, and the first steering rack 6 and the second steering rack 11 move independently. The main controller calculates the respective required superposition rotation angles of the two steering wheels according to the vehicle state information data, and sends control signals to the first driving piece 4 and the second driving piece 9 respectively, so that the left wheel assembly 8 and the right wheel assembly 13 are controlled to complete independent steering according to the calculated superposition rotation angles.
When the auxiliary braking mode is switched, the electromagnetic clutch 15 is not attracted, the first linkage gear 18 and the second linkage gear 19 rotate independently, and the first steering rack 6 and the second steering rack 11 move independently. And calculating a required braking toe-in angle or a required front opening angle according to the vehicle state information data, and sending control signals to the first driving piece 4 and the second driving piece 9 respectively to control the left wheel assembly 8 and the right wheel assembly 13 to toe-in or front opening so as to complete auxiliary braking.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (1)
1. A front wheel steering system comprises an independent steering device, wherein the independent steering device comprises a first steering executing mechanism (1) and a second steering executing mechanism (2), and is characterized in that: the steering control system also comprises a linkage mechanism (3) for controlling the first steering actuating mechanism (1) and the second steering actuating mechanism (2) to switch between a linkage state and a non-linkage state; the first steering executing mechanism (1) comprises a first driving piece (4), a first output gear (5) driven by the first driving piece (4) to rotate, and a first steering rack (6) meshed with the first output gear (5), wherein the left end of the first steering rack (6) is rotatably connected with a first transmission rod (7), and one end, far away from the first steering rack (6), of the first transmission rod (7) is rotatably connected with a left wheel assembly (8); the second steering executing mechanism (2) comprises a second driving piece (9), a second output gear (10) driven by the second driving piece (9) to rotate, and a second steering rack (11) meshed with the second output gear (10), the right end of the second steering rack (11) is rotatably connected with a second transmission rod (12), and one end, far away from the second steering rack (11), of the second transmission rod (12) is rotatably connected with a right wheel assembly (13); link gear (3) including being located first steering actuator (1) and second steering actuator (2) between transmission shaft (14), install electromagnetic clutch (15) on transmission shaft (14), electromagnetic clutch (15) include solenoid (26), drive drum (27), drive plate (16) and driven plate (17), drive plate (16) are through drive drum (27) and transmission shaft (14) fixed connection, be connected with on driven plate (17) and turn to first linkage gear (18) of rack (6) meshing, be connected with on transmission shaft (14) with second steering rack (11) meshing second linkage gear (19), characterized by: having an independent steering mode, a non-independent steering mode and an auxiliary braking mode;
when the vehicle runs on a road surface with uniform adhesion coefficient, the vehicle is in an independent steering mode;
when the vehicle turns on the road surface with the separated attachment coefficient, the vehicle is in a non-independent steering mode;
when braking is carried out on a low-adhesion-coefficient road surface, the vehicle is in an auxiliary braking mode;
when the steering wheel (21) rotates in the non-independent steering mode, the main controller calculates the superposition steering angle of the non-independent steering according to the vehicle state information data and controls the second driving piece (9) to execute the non-independent active steering;
when the steering system is in the independent steering mode, the main controller calculates the superposition steering angles required by the two steering wheels according to the vehicle state information data, and sends control signals to the first driving piece (4) and the second driving piece (9) respectively, so that the main controller controls the left wheel assembly (8) and the right wheel assembly (13) to complete independent steering according to the calculated superposition steering angles;
when the vehicle is in the auxiliary braking mode, the required braking toe-in angle or the required front opening angle is calculated according to the vehicle state information data, and control signals are respectively sent to the first driving piece (4) and the second driving piece (9) to control the left wheel assembly (8) and the right wheel assembly (13) to toe-in or front opening so as to complete auxiliary braking.
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| CN114954646B (en) * | 2022-06-16 | 2023-10-03 | 北京理工大学 | Vehicle steering system and steering method |
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| CN110466602B (en) * | 2019-08-29 | 2023-10-10 | 南京林业大学 | Time-sharing four-wheel steering system of electric automobile driven by hub motor and control method thereof |
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