CN202098458U - Electrically-controlled electric four-wheel steering system - Google Patents
Electrically-controlled electric four-wheel steering system Download PDFInfo
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- CN202098458U CN202098458U CN 201120209134 CN201120209134U CN202098458U CN 202098458 U CN202098458 U CN 202098458U CN 201120209134 CN201120209134 CN 201120209134 CN 201120209134 U CN201120209134 U CN 201120209134U CN 202098458 U CN202098458 U CN 202098458U
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Abstract
The utility model relates to an electrically-controlled electric four-wheel steering system for a dual-axis automobile, which comprises a front wheel steering mechanism, a rear wheel steering mechanism, turn angle sensors, a stepping motor and a speed reducing mechanism of the stepping motor. The front wheel turn angle sensor is mounted on a steering shaft of a steering wheel, the rear wheel turn angle sensor is mounted on an output shaft of a gear transmission case of the motor speed reducing mechanism, an automobile speed sensor is mounted nearby a rotor of a speedometer, a yawing angle speed sensor is mounted on an automobile body at the center of mass of the automobile, and both the front wheel steering mechanism and the rear wheel steering mechanism are gear and rack type steering mechanisms. When the automobile steers, all sensors transmit sensed signals to a controller ECU (electrically-controlled unit), the ECU outputs signals to the motor, the motor determines torsion and motor rotation direction according to signals transmitted from the ECU, and rear wheels are driven to deflect at a certain angle by the rear wheel steering mechanism. The electrically-controlled electric four-wheel steering system has few parts, is light in weight, compact in design and fine in economical efficiency and is unaffected by running working conditions of an engine during operation.
Description
Technical field
The utility model belongs to the Manufacturing Technology for Automotive Parts field, is specifically related to a kind of automatically controlled electronic type four-wheel steering system of diaxon automobile.
Background technology
Traditional single front-axle steering system since speed of response slow, turn to dumb, directional balance difference and can't satisfy people gradually when running at high speed to the increasingly high requirement of vehicle active safety, press for a kind of steering swivel system efficiently and realize good Vehicular turn safety.Under these circumstances; Four-wheel steering system arises at the historic moment, and four-wheel steering (Four-Wheel Steering is called for short 4WS) system is meant that vehicle is in steering procedure; Two groups of 4 wheels in front and back can both work the effect that turns to as required, with maneuverability property and the road-holding property that more effectively improves vehicle.The 4WS automobile is when low speed is turned, and the front and back wheel phase reversal turns to, and can reduce the turn radius of vehicle; When tempo turn, front and back crop rotation same-phase turns to, and can reduce the vehicle side slip angle, reduces the stable state overshoot of vehicle yaw rate etc., can further improve vehicle handling stability.
In the present 4WS system; Except that mechanical type, what majority adopted is fluid pressure type 4WS system, and this system works pressure is big, stable working is reliable; But because the shortcoming that hydraulic efficiency pressure system exists at aspects such as structure, system layout, leak tightness, energy consumption, efficient; And in steering procedure, have defective such as response lag, and make fluid pressure type 4WS system be difficult to adapt to modern four-wheel steering automobile in the requirement that turns to aspect sensitieness, the rapidity, be unfavorable for the stability of galloping.
The utility model content
In order to overcome the defective of fluid pressure type four-wheel steering system at aspects such as structure, system layout, leak tightness, energy consumption, efficient; The utility model provides a kind of parts few, in light weight, compact to design, the electricity powered formula four-wheel steering system that shared space is little, fuel economy is good.
The technical solution that realizes above-mentioned purpose is following: electricity powered formula four-wheel steering system; Comprise front and rear wheel steering hardware, front and rear wheel rotary angle transmitter, car speed sensor, yaw-rate sensor and drive motor speed reduction gearing, said drive motor speed reduction gearing adopts speed-change gear box.
Said front and rear wheel steering hardware is rack and pinion steering mechanism.
Said front wheel angle sensor adopts the inductance type angular-motion transducer, is installed on the steering shaft of steering handwheel.
Said trailing wheel rotary angle transmitter also adopts the inductance type angular-motion transducer, is installed on the output shaft of motor decelerating mechanism-speed-change gear box.
Said car speed sensor is installed near the rotor of car speed mileage table, adopts the photo-electric car speed sensor.
Said yaw-rate sensor is installed on the vehicle body at automobile barycenter place, adopts piezoelectricity efflux angle speed sensor.
The perceptual signal of described front wheel angle sensor, trailing wheel rotary angle transmitter, car speed sensor and yaw-rate sensor is all passed to controller (ECU) through lead.
The CPU of described controller (ECU) is 16 micro controller systems with 256 byte RAM, adopts the 80C196KB micro controller system of the MCS-96 of Intel Company series, extends out the 27128EPROM program store.
Described motor decelerating mechanism connects stepper motor and rear-axle steering mechanism.
Said stepper motor receives the output signal of controller (ECU) through lead, and according to the indication of control signal, does rotatablely moving of respective direction and angle, and drive rear-axle steering mechanism kinematic makes trailing wheel deflection to the left or to the right.
Compare with conventional hydraulic formula four-wheel steering system, the useful technique effect of the utility model embodies in the following areas:
(1) do not receive the influence of engine operating condition.In the occasion of using 4WS, the influence that steering swivel system does not receive driving engine to stop, change, even when stopping, chaufeur also can obtain maximum steering power.
(2) help the calculation for layout of car load.Because the utility model has used electrical equipment, has reduced many mechanical connections morely, parts are few, in light weight, and are compact to design, and shared space is less relatively, can more help the calculation for layout of car load.
(3) fuel economy is good.Because the power steering gear of the utility model is not to pass through the transmission system direct drive by driving engine, steer motor is only just connected when handling maneuver takes place, and therefore can save fuel oil.Simultaneously,, make system works more reliable, move faster because there is not the fluid loss in it.
Description of drawings
Fig. 1 is the utility model general arrangement.
Fig. 2 is the utility model control system schematic circuit diagram.
Mark among the above-mentioned figure is: 1,3 front-wheels, 2 foresteerage gears, 4 front wheel angle sensors, 5 steering handwheel 6 car speed sensors, 7 controllers (ECU), 8 yaw-rate sensor, 9 stepper motors, 10 speed reduction gearings, 11,13 trailing wheels, 12 trailing wheel rotary angle transmitters, 14 rear-axle steering mechanisms 15 turn to Pattern Select Switch 16 external power supplys 17 to turn to pattern indicator lamp 18 failure screens
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is done to describe further.
As shown in Figure 1, electricity powered formula four-wheel steering system comprises foresteerage gear 2, front wheel angle sensor 4, trailing wheel rotary angle transmitter 12, speed reduction gearing 10; Said foresteerage gear 2 adopts rack and pinion steering mechanism; Said speed reduction gearing 10 is a speed-changing gear box, and front wheel angle sensor 4 is installed on the steering shaft of steering handwheel 5; Trailing wheel rotary angle transmitter 12 is installed on the output shaft of speed reduction gearing 10; Car speed sensor 6 is installed near the rotor of car speed mileage table; Adopt the photo-electric car speed sensor, yaw-rate sensor 8 is installed on the vehicle body at automobile barycenter place, adopts piezoelectricity efflux angle speed sensor.
The perceptual signal of described front wheel angle sensor 4, trailing wheel rotary angle transmitter 12, car speed sensor 6 and yaw-rate sensor 8 is all passed to controller (ECU) 7; Described controller (ECU) 7 is 16 micro controller systems with 256 byte RAM; Adopt the 80C196KB micro controller system of the MCS-96 of Intel Company series, extend out the 27128EPROM program store.
Said rear-axle steering mechanism (14) adopts rack and pinion steering mechanism; Said speed reduction gearing 10 connects stepper motor 9 and rear-axle steering mechanism 14, plays reduction of speed and increases the square effect.
Said stepper motor 9 receives the output signal of controllers (ECU) 7, and according to the indication of control signal, does rotatablely moving of respective direction and angle.
See shown in Figure 2, said controller (ECU) the 7th, the core of total system partly is made up of 80C196KB micro controller system 7-3, EPROM7-2, signal conditioning circuit 7-1, interior power supply circuit 7-4, motor drive circuit 7-5, display output circuit 7-6 etc.Described controller (ECU) 7 built-in system fault self-diagnosis programs, diagnostic result is through failure screen 18 drivers.System is provided with two kinds and turns to pattern; And establish and turn to mode switch 15 and turn to mode switch indicator lamp 17, chaufeur can select traditional 2WS to turn to pattern, also can select 4WS to turn to pattern; System can be according to breakdown signal automatically to turning to mode switch to select; When four-wheel steering system breaks down, be the 2WS pattern with steering swivel system by the 4WS mode converting automatically promptly, 4WS system failure indicator lamp 18 is lighted simultaneously.
When Vehicular turn; Front-wheel steering sensor 4 with the signal of front-wheel steering import (ECU) 7 into, car speed sensor 6 imports the speed signal of vehicle into (ECU) 7; (ECU) 7 analyze after the computing; To electrical motor 9 output signals, the signal magnitude that electrical motor 9 transmits according to (ECU) is confirmed the size and the motor hand of rotation of moment of torsion, drives the deflection that trailing wheel produces certain angle through rear-axle steering mechanism 14.(ECU) also monitor in real time simultaneously through the state of yaw- rate sensor 8,12 pairs of vehicles of trailing wheel rotary angle transmitter; With the ideal value of trailing wheel corner and the difference between the actual rotational angle; Feed back to stepping motor 9, with real-time adjustment trailing wheel corner, thus the four-wheel steering of realization automobile.Total system is by external power supply 16 power supplies, and said external power supply 16 is a Vehicular accumulator cell.
The speed of a motor vehicle changes very fast (turning all is attended by moderating process usually) during owing to automobile turning in actual travel; So the control policy that adopts is: front and back wheel backward rotation when the speed of a motor vehicle is lower than 40km/h; Rear-axle steering mechanism is almost motionless during 40km/h～60km/h, and front and back wheel is rotated in the same way when being higher than 60km/h.The size and Orientation of action is then according to the ideal value of setting that turns to, fully by (ECU) 7 controls.
Claims (4)
1. electricity powered formula four-wheel steering system comprises foresteerage gear (2), front wheel angle sensor (4), trailing wheel rotary angle transmitter (12), speed reduction gearing (10); Said front wheel angle sensor (4) is installed on the steering shaft of steering handwheel (5); Said trailing wheel rotary angle transmitter (12) is installed on the output shaft of speed reduction gearing (10), and rotary angle transmitter (4) (12) adopts the inductance type angular-motion transducer; Said foresteerage gear (2) is a rack and pinion steering mechanism, it is characterized in that:
Also comprise car speed sensor (6) and yaw-rate sensor (8);
Said car speed sensor (6) is installed near the rotor of car speed mileage table, adopts the photo-electric car speed sensor; Said yaw-rate sensor (8) is installed on the vehicle body at automobile barycenter place, adopts piezoelectricity efflux angle speed sensor.
2. electricity powered formula four-wheel steering system according to claim 1; It is characterized in that: the perceptual signal of described front wheel angle sensor (4), trailing wheel rotary angle transmitter (12), car speed sensor (6) and yaw-rate sensor (8) is all passed to controller (ECU) (7); The CPU of described controller (ECU) (7) is 16 micro controller systems with 256 byte RAM; Adopt the 80C196KB micro controller system of the MCS-96 of Intel Company series, extend out the 27128EPROM program store.
3. electricity powered formula four-wheel steering system according to claim 1; It is characterized in that: said speed reduction gearing (10) is a speed-changing gear box; Said rear-axle steering mechanism (14) is a rack and pinion steering mechanism; Described speed reduction gearing (10) connects stepper motor (9) and rear-axle steering mechanism (14), plays reduction of speed and increases the square effect.
4. according to claim 1 or 3 described electricity powered formula four-wheel steering systems, it is characterized in that: said stepper motor (9) receives the output signal of controller (ECU) (7), and according to the indication of control signal, does rotatablely moving of respective direction and angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120209134 CN202098458U (en) | 2011-06-11 | 2011-06-11 | Electrically-controlled electric four-wheel steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120209134 CN202098458U (en) | 2011-06-11 | 2011-06-11 | Electrically-controlled electric four-wheel steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202098458U true CN202098458U (en) | 2012-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120209134 Expired - Fee Related CN202098458U (en) | 2011-06-11 | 2011-06-11 | Electrically-controlled electric four-wheel steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202098458U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569197A (en) * | 2013-11-12 | 2014-02-12 | 安徽工程大学 | Four-wheel steering system and control method thereof |
| CN104149845A (en) * | 2014-08-29 | 2014-11-19 | 浙江吉利控股集团有限公司 | Protection device and method for automobile steering drive failure |
| CN105189171A (en) * | 2013-04-30 | 2015-12-23 | 标致·雪铁龙汽车公司 | Strategy, for a hybrid vehicle, concerning the coupling of an electric machine with the rear wheels during cornering |
| CN105292251A (en) * | 2015-11-11 | 2016-02-03 | 吉林大学 | Four-wheel steering system for automobile |
| CN105905114A (en) * | 2015-12-31 | 2016-08-31 | 江苏耐维思通科技股份有限公司 | Unattended truck system |
| CN105946970A (en) * | 2016-03-27 | 2016-09-21 | 林洪立 | Intelligent steering angle driving unit of electric car |
| CN107972733A (en) * | 2017-12-22 | 2018-05-01 | 长春天火汽车制造有限公司 | A kind of allterrain vehicle back-wheel Follow-up steering mechanism |
| CN108801647A (en) * | 2018-05-29 | 2018-11-13 | 西华大学 | A kind of multiaxis commercial car has the course changing control frame device of measurement yaw velocity |
| CN110155169A (en) * | 2019-07-16 | 2019-08-23 | 华人运通(上海)新能源驱动技术有限公司 | Control method for vehicle, device and vehicle |
| CN112644584A (en) * | 2020-12-30 | 2021-04-13 | 华人运通(江苏)技术有限公司 | Vehicle rear wheel steering control system and method |
-
2011
- 2011-06-11 CN CN 201120209134 patent/CN202098458U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105189171A (en) * | 2013-04-30 | 2015-12-23 | 标致·雪铁龙汽车公司 | Strategy, for a hybrid vehicle, concerning the coupling of an electric machine with the rear wheels during cornering |
| CN105189171B (en) * | 2013-04-30 | 2017-12-12 | 标致·雪铁龙汽车公司 | The method that the motor of motor vehicle driven by mixed power is connected with rear wheel during turning |
| CN103569197A (en) * | 2013-11-12 | 2014-02-12 | 安徽工程大学 | Four-wheel steering system and control method thereof |
| CN104149845A (en) * | 2014-08-29 | 2014-11-19 | 浙江吉利控股集团有限公司 | Protection device and method for automobile steering drive failure |
| CN104149845B (en) * | 2014-08-29 | 2017-01-18 | 浙江吉利汽车研究院有限公司 | Protection device and method for automobile steering drive failure |
| CN105292251A (en) * | 2015-11-11 | 2016-02-03 | 吉林大学 | Four-wheel steering system for automobile |
| CN105905114A (en) * | 2015-12-31 | 2016-08-31 | 江苏耐维思通科技股份有限公司 | Unattended truck system |
| CN105946970A (en) * | 2016-03-27 | 2016-09-21 | 林洪立 | Intelligent steering angle driving unit of electric car |
| CN107972733A (en) * | 2017-12-22 | 2018-05-01 | 长春天火汽车制造有限公司 | A kind of allterrain vehicle back-wheel Follow-up steering mechanism |
| CN108801647A (en) * | 2018-05-29 | 2018-11-13 | 西华大学 | A kind of multiaxis commercial car has the course changing control frame device of measurement yaw velocity |
| CN110155169A (en) * | 2019-07-16 | 2019-08-23 | 华人运通(上海)新能源驱动技术有限公司 | Control method for vehicle, device and vehicle |
| CN112644584A (en) * | 2020-12-30 | 2021-04-13 | 华人运通(江苏)技术有限公司 | Vehicle rear wheel steering control system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120104 Termination date: 20120611 |