JPS61146681A - Front and rear wheel steering device for car - Google Patents
Front and rear wheel steering device for carInfo
- Publication number
- JPS61146681A JPS61146681A JP26936984A JP26936984A JPS61146681A JP S61146681 A JPS61146681 A JP S61146681A JP 26936984 A JP26936984 A JP 26936984A JP 26936984 A JP26936984 A JP 26936984A JP S61146681 A JPS61146681 A JP S61146681A
- Authority
- JP
- Japan
- Prior art keywords
- wheel steering
- angle
- steering angle
- rear wheel
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B62D7/15—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 characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—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 characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】 脆粂上の利用分野 本発明は自動車の前後輪操舵袋りに関するものである。[Detailed description of the invention] Fields of use on fried porridge The present invention relates to a front and rear wheel steering system for an automobile.
従来の技術
自動車において、転舵操作時操舵に対する車体の運動性
能を向上させる為に、後輪を前輪と同様キングピンまわ
シに回動し得るようＩＮｆし、前輪の転舵に連動して後
ｔ＊ｔ−転舵させるようにした前後輪操舵装置が従来よ
り種々開発され、例えば特開昭５９−２６５６５号公Ｎ
等にて既に公開されている。Conventional technology In automobiles, in order to improve the dynamic performance of the vehicle body in response to steering during steering operations, INf is used so that the rear wheels can rotate in a kingpin manner similar to the front wheels, and the rear wheels are rotated in conjunction with the steering of the front wheels. *Various types of front and rear wheel steering devices that perform t-steering have been developed in the past, such as Japanese Patent Application Laid-Open No. 59-26565
It has already been published in etc.
発明が解決しようとする問題点
上記のような従来の前後輪操舵装置は、ステアリングハ
ンドルの転舵操作に基づくＩｒＩＩ＆の転舵作動を、作
動軸等の機械的伝達手段にて後輪操舵機構に伝達し、こ
れによシ後輪が転舵作動する構造となっているのが一般
的である。Problems to be Solved by the Invention The conventional front and rear wheel steering devices as described above transmit the steering operation of IrII & based on the steering operation of the steering wheel to the rear wheel steering mechanism using a mechanical transmission means such as an operating shaft. Generally, the structure is such that the rear wheels are steered by this transmission.
通常前後輪操舵装置において、前輪の転舵方向及び転舵
角に対する後輪の理想的な転舵方向及び転舵角は、車速
によって異なり、例えは低速走行域では後輪全前輪の転
舵方向に対し逆方向に転舵させて車体の小廻り性を良く
し、楠迷走行域では後ｒｌｔＭを前輪と同方向に転舵さ
せ操舵に対する応答性の同上をはかるのが良いとされて
いる。In normal front and rear wheel steering systems, the ideal steering direction and steering angle of the rear wheels relative to the steering direction and steering angle of the front wheels differ depending on the vehicle speed. It is said that it is better to steer the vehicle body in the opposite direction to improve the turning ability of the vehicle body, and to steer the rear rltM in the same direction as the front wheels in the Kusunoki driving range to improve the same responsiveness to steering.
従って上記従来装置のように前輪転も作動を作動軸等の
機械的伝達手段にて後輪側に伝達しこれにより後輪転舵
を行うようにしたものでは、上記機械的伝達手段の途中
に伝達比を変える為の変速機構を設けなければならない
はかりか車速によって伝達方向を変えるべき後輪転舵方
向制御機構を設けなければならず、機械的伝達手段の構
造が極めて複雑となシ、スペース上の制約が太きくｆ！
、ｂ過ぎると言う欠点がある上に、極めて高価となると
言う問題を有している。Therefore, in the above-mentioned conventional device in which the operation of the front wheels is transmitted to the rear wheels by a mechanical transmission means such as an operating shaft, and the rear wheels are steered by this, the operation is transmitted to the rear wheels in the middle of the mechanical transmission means. The scale must be equipped with a transmission mechanism to change the ratio, or a rear wheel steering direction control mechanism must be installed to change the direction of transmission depending on the vehicle speed, making the structure of the mechanical transmission means extremely complicated and requiring space. The restrictions are too strong!
, b is too high, and also has the problem of being extremely expensive.
本発明は上記のような従来の間１ｍｋ解消し得る前輪操
舵装置’に提供することを目的とするものである。It is an object of the present invention to provide a front wheel steering system capable of eliminating the conventional 1 mk as described above.
問題点全解決するための手段
本発明は、ステアリングハンドルの回動操作にて転舵作
動する前輪操舵装置と１．後輪操舵装置とを機械的に全
く分離させ、後輪操舵装置ｉ！θ転舵作動の動力源とし
て電動モータを用い、前輪の転舵角を検出する＊ｉｊｌ
Ｐｍ舵角センサの前輪舵角信号と車速を検出する車速セ
ンサの車速信号とによ、！７後輪理想舵角を演算すると
共に後輪の転舵角を検出する後輪舵角センサの後輪舵角
信号に基き求められる後輪実舵角と上記後輪理想舵角と
を比較演算して出力を発するｆ８１１御回路の該出力に
て、上記電動モータの回転駆動をｆａＩ？ＩＪＪするよ
うにしたこと全特徴とするものである。Means for Solving All Problems The present invention provides a front wheel steering device that operates by turning a steering wheel; The rear wheel steering device is completely separated mechanically, and the rear wheel steering device i! An electric motor is used as the power source for θ steering operation, and the steering angle of the front wheels is detected *ijl
Based on the front wheel steering angle signal of the Pm steering angle sensor and the vehicle speed signal of the vehicle speed sensor that detects the vehicle speed! 7 Calculates the ideal rear wheel steering angle and compares the actual rear wheel steering angle obtained based on the rear wheel steering angle signal of the rear wheel steering angle sensor that detects the rear wheel steering angle with the ideal rear wheel steering angle. The output of the f811 control circuit, which generates an output, drives the rotation of the electric motor as faI? All the features are designed to make IJJ.
作用 ′
上記構成によシ、ステアリングハンドル金回動操作し前
輪が転舵作動すると、そのｉＪ輛舵角は電気的信号とし
て制御回路にインプットされ該前輪舵角信号と車速信号
とに基づき制御回路がそのときの理想的後輪舵角を演算
し１動モータに出力を発して該電動モータが回転駆動し
後輪転舵を行うと共に、後輪舵角信号にて上記電動モー
タの回転はフィードバックｂａされ、常に後輪実舵角と
後輪理想舵角とが一致するよう制御されるものである。Effect ' According to the above configuration, when the steering wheel is turned and the front wheels are turned, the iJ steering angle is inputted to the control circuit as an electrical signal, and the control circuit is activated based on the front wheel steering angle signal and the vehicle speed signal. calculates the ideal rear wheel steering angle at that time and outputs an output to the single-motor motor, which rotates and steers the rear wheels, and the rotation of the electric motor is controlled by feedback ba based on the rear wheel steering angle signal. The actual steering angle of the rear wheels is controlled so that the ideal steering angle of the rear wheels always coincides with each other.
実施例 以下本発明の一実施例を附図を参照して説明する。Example An embodiment of the present invention will be described below with reference to the accompanying drawings.
第１図において、１はステアリングハンドルであり、該
ステアリングハンドル１を回転操作することによシ、図
示しない例えはラック、ピニオン式等の従来よシ一般的
に用いられている前輪操舵装置が作動し前輪が右又は左
に転舵作動するようになっている。該前輪操舵装置は図
示省略しているが、従来より公知の任意の機構のものを
採用し得る。In FIG. 1, reference numeral 1 denotes a steering handle, and by rotating the steering handle 1, a commonly used front wheel steering device (not shown), such as a rack or pinion type, is actuated. The front wheels can be steered to the right or left. Although the front wheel steering device is not shown, any conventionally known mechanism may be employed.
２はステアリングハンドル１０回転繰作角或は前輪操舵
装置の転舵作１ｔ＋量或は又前輪実舵角を検出し前輪舵
角に応じた信号を発する＠輪舵角センサ、３は車速を検
出し車速に応じた信号を発する車速センサであり、該＠
輪舵角センサ２の前輪舵角信号及び車速センサ３の車速
信号は制御回路４にインプットされる。2 is a wheel steering angle sensor that detects the 10 rotation rotation angle of the steering wheel or the steering operation of the front wheel steering device (1t+ amount) or the actual front wheel steering angle and issues a signal according to the front wheel steering angle, and 3 detects the vehicle speed. It is a vehicle speed sensor that emits a signal according to the vehicle speed.
A front wheel steering angle signal from the wheel steering angle sensor 2 and a vehicle speed signal from the vehicle speed sensor 3 are input to a control circuit 4 .
５は電動モータであシ、該電動モータ５の回転駆動は第
２図に示すように円筒ウオーム６゜それに噛合うウオー
ムホイール７よりなるウオームギヤを介してピニオンギ
ヤ８に伝律され、該ピニオンギヤ８が噛合っているラッ
クシャフト９を軸方向に作動させ該ラックシャフト９の
軸方向作動によシタイロツド１２ 、１２及びナックル
アーム１３，１３に介して後輪１４ 、１４がキングピ
ンまわりに回動して後輪転舵が行われるようになってい
る。Reference numeral 5 is an electric motor, and as shown in FIG. The engaged rack shafts 9 are actuated in the axial direction, and the axial movement of the rack shafts 9 causes the rear wheels 14, 14 to rotate around the kingpin via the tie rods 12, 12 and knuckle arms 13, 13. Wheel steering is now available.
上記電動モータ５．ウオームギヤ６．７を介して駆動さ
れるピニオンギヤ８及びラックシャフト９等はギヤボッ
クス１１内に組込まれて１ユニツトの後輪操舵装！ｔを
構成している。The above electric motor 5. The pinion gear 8 and rack shaft 9, which are driven via the worm gears 6 and 7, are incorporated into the gear box 11, creating a single rear wheel steering system! t.
１０は後輪舵角を検出し後輪舵角に応じた信号を発する
後輪舵角センサでめシ、該後輪舵角センサ１０の後輪舵
角信号は前記制御回路４にインプットされる。Reference numeral 10 denotes a rear wheel steering angle sensor that detects a rear wheel steering angle and issues a signal according to the rear wheel steering angle.The rear wheel steering angle signal of the rear wheel steering angle sensor 10 is input to the control circuit 4. .
上記後輪舵角は、第１図のようにラックシャフト９の軸
方間変位量によシ検出しても良いし、或は電動モータ５
の出力軸の回転角度変位量ににより検出しても良く、或
は又後輪１４の実舵角によシ検出しても良い。The rear wheel steering angle may be detected by the amount of axial displacement of the rack shaft 9 as shown in FIG.
The rotational angle displacement amount of the output shaft may be used for detection, or the actual steering angle of the rear wheels 14 may be used for detection.
上記において、制御回路４は、ステアリングハンドル１
の操作時前輪舵角センサ２の前輪舵角信号と車速センサ
３の車速信号に基づきそのときの理想的な後輪舵角を演
算し、更に後輪舵角センサ１０の後輪舵角信号にて求め
られる後輪実舵角と上記後輪の理想舵角とを比較演算し
、その結果を例えば電気パルス幅信号として出力し電動
モータ５Ｘｅ駆動し、これにより後輪理想舵角と後輪実
舵角が常に一致するよう電動モータ５の回転全制御する
ものである。In the above, the control circuit 4 controls the steering wheel 1
When operating, the ideal rear wheel steering angle at that time is calculated based on the front wheel steering angle signal of the front wheel steering angle sensor 2 and the vehicle speed signal of the vehicle speed sensor 3, and further, based on the rear wheel steering angle signal of the rear wheel steering angle sensor 10. The actual rear wheel steering angle obtained by The entire rotation of the electric motor 5 is controlled so that the steering angles always match.
後輪の理想舵角類は、前輪舵角をθ、車連を■とすると
δＲ；θ−ｆ（Ｖ）・・・・・・・・・（１）で表わさ
れる。The ideal steering angles of the rear wheels are expressed as δR; θ-f(V) (1), where θ is the front wheel steering angle and ■ is the vehicle chain.
上記において、ｆ（Ｖ）は例えは第３図に示すようにほ
ぼ５０ｈＡ程度以下の低車速域では負となシ、５０に／
Ｈより車速か増すに従って＋１に近づく増加関数であシ
、上記（１）式に基づき制御回置１４が理想後輪舵角δ
Ｒ？演算することによって低車速域では負の方向即ち前
輪転舵方向とは逆方向に後輪を転舵させるよう電動モー
タ５を所定回転角だけ回転させ、高車速域では正の方向
即ち前輪転舵方向と同方向に後＄１所定角度転舵させる
よう電動モータ５を回転させることができるものである
。In the above, f(V) is negative in the low vehicle speed range of approximately 50 hA or less, as shown in Fig.
It is an increasing function that approaches +1 as the vehicle speed increases from H, and based on the above equation (1), the control rotation 14 is the ideal rear wheel steering angle δ.
R? By calculating, the electric motor 5 is rotated by a predetermined rotation angle so as to steer the rear wheels in a negative direction, that is, in a direction opposite to the front wheel steering direction in a low vehicle speed range, and in a positive direction, that is, a front wheel steering direction in a high vehicle speed range. The electric motor 5 can be rotated so as to be steered by a predetermined angle by $1 in the same direction as the direction.
尚第２図示のように電動モータ５の回転力をラックシャ
フト９に噛合うピニオンギヤ８に伝達する手段として円
筒ウオーム６とウオ°−ムホイール７とからなるリード
角の小なる一部回トルク伝達機能をもったウオームギヤ
金柑いることにより、後輪１４側からの荷重は該ウオー
ムギヤにてロックされ、電動モータ５に電流が流れてい
ない場合にも後輪１４のふらつきは全くない。As shown in the second figure, as a means for transmitting the rotational force of the electric motor 5 to the pinion gear 8 meshing with the rack shaft 9, there is a partial torque transmission function with a small lead angle consisting of a cylindrical worm 6 and a worm wheel 7. Since the worm gear has a worm gear, the load from the rear wheel 14 side is locked by the worm gear, and there is no wobbling of the rear wheel 14 even when no current flows to the electric motor 5.
発明の効果
以上のように本発明によれは、ステアリングハンドルの
回転操作により転舵作動するｆ１１１輪操舵装置に対し
、後輪操舵装置の転舵作動の動力源として電動モータを
用い、該電動モータの回転を前輪転舵角信号とそのとき
の車速信号に基づき後輪の理想舵角を演算にて求め所定
の出力を発する制御回路の該出力にて制御すると共に後
輪舵角信号に基づき上記出力をフィードバック制御する
ことにより、後輪実舵角が後輪理想舵角に常に一致する
前後輪操舵装置ヲ得ることができるもので、構成部品が
少く構造が極めて前車であシコストも従来のものに比し
はるかに安価であるばかシか、後輪操舵の制御要素とし
て上記実施例の前輪転舵角、車速のほかに更に例えば車
体のヨーレイト変化率や梗方同加速度等の要素を附加し
よりきめ細かな制御を行うことも極めて簡単、容易であ
り、更に又後輪操舵の為の動力源がｉ動モータであるの
で従来の前後輪操舵装置に比しステアリングハンドルの
操作荷重が非常に小となる等、数多くの価＊ある効果を
もたらし得るものである。Effects of the Invention As described above, according to the present invention, an electric motor is used as a power source for the steering operation of the rear wheel steering device for an F111 wheel steering device that performs steering operation by rotational operation of a steering wheel, and the electric motor The rotation of the rear wheels is controlled by the output of a control circuit that calculates the ideal steering angle of the rear wheels based on the front wheel steering angle signal and the vehicle speed signal at that time and generates a predetermined output. By feedback controlling the output, it is possible to obtain a front and rear wheel steering system in which the actual rear wheel steering angle always matches the ideal rear wheel steering angle. In addition to the front wheel steering angle and vehicle speed of the above embodiment, elements such as the vehicle body's yaw rate change rate and yaw acceleration can be added as control elements for rear wheel steering. It is also extremely simple and easy to perform more detailed control, and since the power source for rear wheel steering is an i-motor, the operating load on the steering wheel is much lower than with conventional front and rear wheel steering devices. It can bring about many valuable effects, such as reducing the size of the environment.
【図面の簡単な説明】
第１図は本発明の一実施例を示す後輪操舵機構の概略平
面説明図、第２図は第１図の電動モータからラックシャ
フトに至る駆動力伝達系統の拡大斜視図、第３図は後輪
理想舵角を求める為の単連関数の一例金示す図である。
１・・・ステアリングハンドル、２・・・ＩＴｌ、Ｉ
輪舵角センサ、３・・・車速センサ、４・・・制御回路
、５・・・電動モータ、８・・・ピニオンギヤ、９・・
・ラックシャフト、１０・・・後輪舵角センサ、１４・
・・後輪。
以 上[Brief Description of the Drawings] Figure 1 is a schematic plan view of a rear wheel steering mechanism showing an embodiment of the present invention, and Figure 2 is an enlarged view of the drive power transmission system from the electric motor to the rack shaft in Figure 1. The perspective view and FIG. 3 are diagrams showing an example of a simple continuous function for determining the ideal steering angle of the rear wheels. 1... Steering handle, 2... ITl, I
Wheel steering angle sensor, 3... Vehicle speed sensor, 4... Control circuit, 5... Electric motor, 8... Pinion gear, 9...
・Rack shaft, 10...Rear wheel steering angle sensor, 14・
··Rear wheel. that's all
Claims (1)
の転舵角を検出し前輪舵角信号を発する前輪舵角センサ
と、車速を検出し車速信号を発する車速センサと、上記
前輪舵角信号及び車速信号に基づき後輪理想舵角を演算
し出力を発する制御回路と、該制御回路の出力にて回転
駆動し後輪転舵を行う電動モータと、該電動モータの回
転駆動に伴なう後輪舵角を検出し後輪舵角信号を制御回
路に発し該制御回路の出力を制御する後輪舵角センサと
からなる後輪操舵制御装置を設けたことを特徴とする自
動車の前後輪操舵装置。A front wheel steering angle sensor detects the turning angle of the front wheels that are steered by turning the steering wheel and generates a front wheel steering angle signal, a vehicle speed sensor detects vehicle speed and issues a vehicle speed signal, and the front wheel steering angle signal and A control circuit that calculates and outputs an ideal steering angle of the rear wheels based on a vehicle speed signal, an electric motor that is rotationally driven by the output of the control circuit and steers the rear wheels, and a rear wheel that is driven by the rotation of the electric motor. 1. A front and rear wheel steering device for an automobile, comprising a rear wheel steering control device comprising a rear wheel steering angle sensor that detects a steering angle, issues a rear wheel steering angle signal to a control circuit, and controls the output of the control circuit. .
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26936984A JPS61146681A (en) | 1984-12-20 | 1984-12-20 | Front and rear wheel steering device for car |
| US06/807,572 US4652002A (en) | 1984-12-20 | 1985-12-11 | Steering system for a motor vehicle |
| DE19853544479 DE3544479A1 (en) | 1984-12-20 | 1985-12-16 | STEERING ARRANGEMENT FOR A MOTOR VEHICLE |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26936984A JPS61146681A (en) | 1984-12-20 | 1984-12-20 | Front and rear wheel steering device for car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61146681A true JPS61146681A (en) | 1986-07-04 |
Family
ID=17471428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26936984A Pending JPS61146681A (en) | 1984-12-20 | 1984-12-20 | Front and rear wheel steering device for car |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61146681A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988004251A1 (en) * | 1986-12-04 | 1988-06-16 | Mitsubishi Denki Kabushiki Kaisha | Electric rear wheel steering apparatus |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59220459A (en) * | 1983-05-27 | 1984-12-11 | Mazda Motor Corp | Steering angle display unit for four-wheel steering |
-
1984
- 1984-12-20 JP JP26936984A patent/JPS61146681A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59220459A (en) * | 1983-05-27 | 1984-12-11 | Mazda Motor Corp | Steering angle display unit for four-wheel steering |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1988004251A1 (en) * | 1986-12-04 | 1988-06-16 | Mitsubishi Denki Kabushiki Kaisha | Electric rear wheel steering apparatus |
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