CN114194284A - Steering driving system and vehicle applying same - Google Patents
Steering driving system and vehicle applying same Download PDFInfo
- Publication number
- CN114194284A CN114194284A CN202111653208.XA CN202111653208A CN114194284A CN 114194284 A CN114194284 A CN 114194284A CN 202111653208 A CN202111653208 A CN 202111653208A CN 114194284 A CN114194284 A CN 114194284A
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- China
- Prior art keywords
- steering
- motor
- module
- knuckle
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a steering driving system and an application vehicle thereof. Wherein, the steering drive system includes: an ESP module and an integrally disposed steering module. The ESP module is used for generating a control command, and the integrally arranged steering module is electrically connected with the ESP module and used for carrying out corresponding actions according to the control command. The invention can simplify the system space by adopting the steering module with integrated arrangement, and can further improve the steering control effect by adopting the ESP module to control the steering module.
Description
Technical Field
The invention relates to the field of steering control of unmanned vehicles, in particular to a steering driving system and an application vehicle thereof.
Background
The existing vehicle steering driving system and the vehicle using the same generally need to be additionally provided with a certain space for placing a driving motor, so that the space occupation is large, for example, the steering motor is arranged on a pipeline, and the steering control is realized. In the environment of gardens, wooden factories and the like, the larger the space of the vehicle chassis is, the more favorable the transportation of objects is. In addition, in the conventional steering drive system and the vehicle using the same, when the steering motor is controlled, an error exists between the torque actually output by the steering motor and the torque generated by the controller due to the existence of mechanical force. Therefore, it is an urgent technical problem to provide a system capable of simplifying the structure of the driving system and increasing the driving control precision.
Disclosure of Invention
The invention aims to provide a steering driving system and an application vehicle thereof, which can improve the steering driving control precision while simplifying the structure of the steering driving system of an unmanned vehicle and the application vehicle thereof.
In order to achieve the purpose, the invention provides the following scheme:
a steering drive system comprising:
the ESP module is used for generating a control command; the control instructions include: a steering command and a driving running command;
and the integrally arranged steering module is electrically connected with the ESP module and is used for carrying out corresponding actions according to the control command.
Preferably, the steering module comprises: a knuckle and a motor;
the motor is electrically connected with the ESP module; the motor is used for carrying out corresponding actions according to the control command; the motor is disposed in the knuckle.
Preferably, the motor is mounted in the knuckle by a bearing.
Preferably, the motor is an electric motor.
A vehicle, comprising: suspension, wheels and the steering drive system provided above;
a steering knuckle in the steering driving system is mechanically connected with the suspension; and an output shaft of a motor in the steering driving system is mechanically connected with the wheels and used for driving the wheels to actuate according to a control instruction.
Preferably, the mechanical connection is a weld or rivet.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the steering driving system and the application vehicle thereof provided by the invention, the steering module with integrated arrangement is adopted, so that the system space can be simplified, and the steering control effect can be further improved by adopting the ESP module to control the steering module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a steering driving system and a vehicle using the same according to the present invention;
fig. 2 is a schematic structural diagram of a steering module provided in the present invention.
Description of the symbols:
1-ESP module, 2-steering module, 3-wheel, 4-steering knuckle and 5-motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a steering driving system and an application vehicle thereof, which can improve the steering driving control precision while simplifying the structure of the steering driving system of an unmanned vehicle and the application vehicle thereof.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides a steering drive system including: an ESP module 1 and an integrally arranged steering module 2.
The ESP module 1 is used for generating a control command; the control instructions include: a steering command and a driving running command;
the integrally arranged steering module 2 is electrically connected with the ESP module 1, and the integrally arranged steering module 2 is used for performing corresponding actions according to the control command.
In order to further simplify the system space and improve the control accuracy, as shown in fig. 2, the steering module 2 adopted in the present invention includes: a knuckle 4 and a motor 5;
the motor is electrically connected with the ESP module 1; the motor is used for carrying out corresponding actions according to the control command; the motor 5 is disposed in the knuckle 4, for example, by coupling upper and lower end faces of the motor 5 to a cavity of the knuckle 4. The motor 5 adopted by the invention is a hub motor.
Based on the above, the invention can greatly reduce the system space by implanting the motor 5 into the steering knuckle 4, and can effectively avoid the problem of consumption of mechanical force to effective torque by adopting the ESP module 1 to directly control the output torque of the motor 5, thereby obviously improving the driving control precision.
Further, the present invention also provides a vehicle corresponding to the steering drive system provided above, the vehicle comprising: suspension, wheels 3 and the steering drive system provided above;
a steering knuckle 4 in the steering driving system is mechanically connected with the suspension; an output shaft of a motor 5 in the steering driving system is mechanically connected with the wheels 3 and used for driving the wheels 3 to actuate according to a control instruction. The mechanical connection in the invention is welding or riveting.
Based on the description, when the vehicle needs to be driven and controlled, the ESP module generates a steering command or a driving command according to the driving control signal after receiving the driving control signal, and then distributes a torque corresponding to the command to the motor disposed in the knuckle, and the motor outputs a counter-stress torque according to the torque distribution signal, and directly acts on the wheel to complete the driving action, so that the attenuation of the signal transmission process and the consumption of mechanical force can be effectively reduced, and the driving control precision is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A steering drive system, characterized by comprising:
the ESP module is used for generating a control command; the control instructions include: a steering command and a driving running command;
and the integrally arranged steering module is electrically connected with the ESP module and is used for carrying out corresponding actions according to the control command.
2. The steering drive system according to claim 1, wherein the steering module comprises: a knuckle and a motor;
the motor is electrically connected with the ESP module; the motor is used for carrying out corresponding actions according to the control command; the motor is disposed in the knuckle.
3. The steer-drive system of claim 2 wherein said motor is mounted in said knuckle by a bearing.
4. The steer-drive system of claim 2 wherein the motor is an electric motor.
5. A vehicle, characterized by comprising: a suspension, a wheel, and a steering drive system according to any one of claims 1 to 4;
a steering knuckle in the steering driving system is mechanically connected with the suspension; and an output shaft of a motor in the steering driving system is mechanically connected with the wheels and used for driving the wheels to actuate according to a control instruction.
6. A vehicle according to claim 5, characterised in that the mechanical connection is a weld or rivet joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111653208.XA CN114194284B (en) | 2021-12-30 | 2021-12-30 | Steering driving system and application vehicle thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111653208.XA CN114194284B (en) | 2021-12-30 | 2021-12-30 | Steering driving system and application vehicle thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114194284A true CN114194284A (en) | 2022-03-18 |
| CN114194284B CN114194284B (en) | 2023-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111653208.XA Active CN114194284B (en) | 2021-12-30 | 2021-12-30 | Steering driving system and application vehicle thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN114194284B (en) |
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| CN108081886A (en) * | 2017-11-30 | 2018-05-29 | 燕山大学 | A kind of wheel side of comprehensive steering turns to suspension fork mechanism |
| CN110525512A (en) * | 2019-09-25 | 2019-12-03 | 吉林大学 | A kind of steering-by-wire mechanism and its control method based on McPherson suspension |
| CN111619296A (en) * | 2020-04-29 | 2020-09-04 | 风神襄阳汽车有限公司 | Suspension system for wheel train movement device and automobile |
| CN111923719A (en) * | 2019-10-24 | 2020-11-13 | 中国北方车辆研究所 | High-maneuverability running driving control system for hub motor of unmanned vehicle |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
| CN113104102A (en) * | 2021-06-15 | 2021-07-13 | 北京理工大学 | Vehicle wireless electromagnetic transmission omnidirectional driving device and system |
-
2021
- 2021-12-30 CN CN202111653208.XA patent/CN114194284B/en active Active
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| US20070068715A1 (en) * | 2003-09-30 | 2007-03-29 | Toyota Jidosha Kabushiki Kaisha | Wheel supporting apparatus improving ride comfort of vehicle |
| KR20070048005A (en) * | 2005-11-03 | 2007-05-08 | 현대자동차주식회사 | Automatic device of adjusting rear camber on driving |
| JP2007145069A (en) * | 2005-11-24 | 2007-06-14 | Toyota Motor Corp | Drive wheel structure for vehicle |
| CN201971062U (en) * | 2011-03-03 | 2011-09-14 | 广州市赛导电气技术有限公司 | Steering control system for electric vehicle |
| CN104260727A (en) * | 2014-09-25 | 2015-01-07 | 江苏大学 | Vertical and automatic parking system and method for four-wheel independent-drive hub motor car |
| CN204956616U (en) * | 2015-08-21 | 2016-01-13 | 郑州飞机装备有限责任公司 | Place transport vechicle is with automatically controlled hydraulic pressure four wheel steering mechanism |
| CN107521327A (en) * | 2016-06-22 | 2017-12-29 | 于平 | Novel high speed Electric Motor Wheel |
| CN107839424A (en) * | 2016-09-20 | 2018-03-27 | 同济大学 | Wire controlled four wheel steering and the integrated suspension system of driving |
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| CN106994875A (en) * | 2017-05-09 | 2017-08-01 | 三江学院 | The multi-link lever suspension fork Direct wheel drives system of wheel hub motor direct-driving electric electrical automobile |
| CN207072380U (en) * | 2017-06-05 | 2018-03-06 | 襄阳市天昊机械有限公司 | Independent ambulation steering mechanism |
| CN108081886A (en) * | 2017-11-30 | 2018-05-29 | 燕山大学 | A kind of wheel side of comprehensive steering turns to suspension fork mechanism |
| CN108036953A (en) * | 2017-12-14 | 2018-05-15 | 燕山大学 | In-wheel motor driving automobile Integrated design and Collaborative Control test platform and implementation method |
| CN110525512A (en) * | 2019-09-25 | 2019-12-03 | 吉林大学 | A kind of steering-by-wire mechanism and its control method based on McPherson suspension |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114194284B (en) | 2023-08-25 |
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