JPS6185576U

JPS6185576U -

Info

Publication number: JPS6185576U
Application number: JP17066684U
Authority: JP
Priority date: 1984-11-09
Filing date: 1984-11-09
Publication date: 1986-06-05
Also published as: JPH0353976Y2

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本考案の一実施例に係る後輪操舵制御
装置を備えた前後輪操舵車の概略構成図、第２図
は同装置が有するコントローラの概略構成図、第
３図ａは前輪舵角βｆに対する後輪舵角βｒの特
性線図、第３図ｂは車速ｕに対するｋ（βｒ／β
ｒ）の特性線図、第４図はコントローラのプログ
ラムを示すフローチヤートである。符号の説明、１１…後輪、２０ａ…油圧アクチ
ユエータ、２１…ピストンロツド、２２ａ，２２
ｂ…油室、２０ｂ…サーボ弁、３１…コントロー
ラ、３４…前輪舵角センサ、３５…車速センサ、
３６…後輪舵角センサ。 FIG. 1 is a schematic configuration diagram of a front and rear wheel steering vehicle equipped with a rear wheel steering control device according to an embodiment of the present invention, FIG. 2 is a schematic configuration diagram of a controller included in the device, and FIG. 3a is a front wheel steering vehicle. A characteristic diagram of the rear wheel steering angle βr with respect to the angle βf, FIG. 3b shows k(βr/β
FIG. 4 is a flowchart showing the controller program. Explanation of symbols, 11...Rear wheel, 20a...Hydraulic actuator, 21...Piston rod, 22a, 22
b...oil chamber, 20b...servo valve, 31...controller, 34...front wheel steering angle sensor, 35...vehicle speed sensor,
36...Rear wheel steering angle sensor.

Claims

【実用新案登録請求の範囲】[Scope of utility model registration request]

左右一対の後輪にナツクルアームを介してそれ
ぞれ連結した左右一対のタイロツド間に油圧アク
チユエータを配設し、同油圧アクチユエータの各
油室に対する作動油の給排を前輪の操舵状態に応
じて制御して同油圧アクチユエータのピストンロ
ツドを左右動することにより後輪を操舵する前後
輪操舵車において、前記油圧アクチユエータの給
排油路に介装され電気的に駆動制御されて同油圧
アクチユエータの各油室に対する作動油の給排を
切換えるサーボ弁と、車速を検出してその検出信
号を発生する第１検出手段および前輪の舵角を検
出してその検出信号を発生する第２検出手段と、
これら各検出手段から付与される検出信号に応答
して前輪に対する後輪の操舵を前輪舵角が所定の
小舵角末満では車速に無関係に逆相側となしかつ
前輪舵角が所定の値以上では車速に応じて漸次同
相側とするように前記サーボ弁を駆動する制御信
号を発生する油量制御手段を備えたことを特徴と
する前後輪操舵車における後輪操舵制御装置。 A hydraulic actuator is disposed between a pair of left and right tie rods connected to a pair of left and right rear wheels via a knuckle arm, and the supply and discharge of hydraulic oil to each oil chamber of the hydraulic actuator is controlled according to the steering state of the front wheels. In a front and rear wheel steered vehicle that steers the rear wheels by moving the piston rod of the hydraulic actuator left and right, the hydraulic actuator is installed in the oil supply and drainage path of the hydraulic actuator and is electrically driven and controlled to actuate each oil chamber of the hydraulic actuator. a servo valve that switches oil supply and discharge; a first detection device that detects vehicle speed and generates a detection signal; and a second detection device that detects a steering angle of the front wheels and generates a detection signal;
In response to the detection signals given by these detection means, the rear wheels are not steered relative to the front wheels when the front wheel steering angle is at the end of a predetermined small steering angle, regardless of the vehicle speed, and the front wheel steering angle is set to a predetermined value. The above-mentioned rear wheel steering control device for a front and rear wheel steered vehicle is characterized in that it includes an oil amount control means for generating a control signal for driving the servo valve so that the servo valves are gradually brought into the same phase according to the vehicle speed.