32results about How to "Guaranteed steering stability" patented technology

The invention discloses a steering stability control system and method based on a four-wheel independent driving electric vehicle. The system comprises an external monitoring module and a central control module; the external monitoring module comprises four pressure sensors, a road surface environmental sensor, four tire road detectors, a steering wheel rotation angle sensor, a yaw velocity sensorand a speed sensor, and the central control module comprises an instability device and an emergency processing execution system. According to the steering stability control system and method, factorssuch as a real-time friction factor and dynamic load transfer are considered at the same time, the ideal rotation angle and ideal yaw velocity which continuously change under the real-time state arecalculated, an ideal value is tracked, the problem is solved that the stability control system cannot change along with the state to conduct control adjustment, and accordingly the control system is more accurate, practical and available. According to the steering stability control system and method, steering instability is divided into two steps of rotation angle adjustment and yawing moment adjustment, a tracking algorithm and a neural network PID algorithm are combined and applied to rotation angle stability control, and the steering stability is greatly improved.

The invention discloses a control method for steering of a vehicle driven by a four-wheel hub motor, which comprises the following steps: obtaining driver input signal and actual vehicle power information; calculating a desired vehicle center of mass lateral deflection angle, a desired vehicle yaw angular speed and a desired vehicle speed; the lateral deviation of mass center, yaw angular velocitydeviation and vehicle speed deviation are calculated. PID control algorithm and fuzzy PID control algorithm are used to generate virtual control commands according to the deviation of side deflectionangle of mass center, deviation of yaw angular velocity and deviation of vehicle speed. The objective functions of vehicle tire adhesion utilization ratio and vehicle energy consumption are established. The first layer torque distribution optimization function and the second layer torque distribution optimization function are established according to the virtual control command and the objectivefunction. The two-layer torque distribution optimization function is used to distribute the torque among the four hub motors to control the vehicle steering. The invention can ensure stable steering of a vehicle driven by a four-wheel hub motor and minimize energy consumption in the steering process.

The invention belongs to the technical field of automobile safety, and discloses an active obstacle avoidance control method based on a rectangular clustering collision cone model. The method comprises the steps that whether collision can be avoided through automatic braking in a lane or not is judged, and if that collision can be avoided through automatic braking and meanwhile a rear vehicle andan own vehicle have no rear-end collision risk is judged, automatic braking is adopted; if that collision cannot be avoided through automatic braking is judged, rectangular clustering is conducted onthe own vehicle and a front obstacle vehicle, the minimum steering angle during automatic steering collision avoidance is calculated by means of the collision cone principle; and if that the own vehicle and a target vehicle on an adjacent lane have no collision risk under the input of the steering angle and meanwhile the own vehicle can keep steering stability is met, automatic steering collisionavoidance is conducted. According to the active obstacle avoidance control method based on the rectangular clustering collision cone model, the minimum steering angle during automatic steering is calculated by means of the collision cone principle, the problem caused by steering amplitude misoperation of a driver under the emergency condition is solved, and the purpose of reducing more serious accidents caused by side collision of the own vehicle and the front vehicle or vehicle instability is achieved.

The invention provides an energy optimization method of a drive-by-wire dual-motor coupling steering system. The drive-by-wire dual-motor system is an active steering system set up based on actuator fault tolerance, and steering safety can be greatly improved through redundancy of an execution motor. The dual-motor coupling steering (DMCS) strategy is adopted for optimizing energy in the steeringprocess of the drive-by-wire system. The DMCS strategy can run in three steering modes to meet different steering conditions, and therefore steering efficiency is improved. On the premise of meeting vehicle stability, a controller can select the optimal steering mode online according to the vehicle state, and optimization distribution of energy between motors is achieved.

The invention relates to the technical field of electric trucks, in particular to a bidirectional driving electric truck capable of being automatically driven. The electric truck comprises an automatic driving controller, a first driving motor, a second driving motor, a first electric drive axle and a second electric drive axle which are fixed to a chassis of the electric truck. The first drivingmotor is in transmission connection with the first electric drive axle through a driving shaft. The second driving motor is in transmission connection with the second electric drive axle through a driving shaft. The first electric drive axle and the second electric drive axle are arranged at the two ends of the chassis of the electric truck correspondingly. A first longitudinal signal output end of the automatic driving controller is electrically connected with the first driving motor. A second longitudinal signal output end of the automatic driving controller is electrically connected with the second driving motor. By means of the mode of autonomously controlling the driving motors to drive the electric drive axles to operate through the automatic driving controller, a cab can be omitted,and therefore the freight amount is greatly improved.

The invention discloses an automobile pull rod assembly. The automobile pull rod assembly comprises a pull rod, a ball pin and a ball seat structure for supporting the ball pin, wherein the ball pin comprises a ball head and a ball pin rod, and an accommodating cavity for accommodating the ball seat structure and the ball head is arranged in the pull rod. According to the automobile pull rod assembly disclosed by the invention, the accommodating cavity for accommodating the ball head and the ball seat structure of the ball pin is arranged in the pull rod, the pull rod is of an integral structure, the ball pin is directly mounted on the pull rod, and thus the bearing strength of the pull rod assembly can be improved; the structure of the pull rod assembly is simpler, the production technology can be simplified, and the production cost is reduced; moreover, components of the pull rod assembly can be changed individually, only damaged components are changed in case of failure, the assembly does not need to be changed, the using cost is reduced, the steering stability of large-torsion heavy machinery (such as large tractors, pavers, heavy trucks and the like) is guaranteed, and safety and reliability of steering operation are guaranteed.

The invention provides a wheel torque distribution method of a multi-shaft drive distributed vehicle. According to the method, a vehicle longitudinal force and a vehicle yaw moment command of an uppercontroller are converted into a difference of a wheel analysis longitudinal torque and a wheel analysis steering torque, and the torque distribution of the wheel is divided into a stage of left distribution and a right distribution and a stage of a front distribution and a rear distribution; when in the stage of left and right distributions, the wheels at one side is regarded as a whole, and theprinciple of steering priority is adopted; in the stage of the front and back distributions, an average distribution mode under different wheel limit values is adopted, so that the torque load of thewheels at the same side is similar, the torque among the wheels at the same side is mutually compensated, and the torque sum of the wheels at the same side is accurately distributed. By means of the method, the complex multi-axle wheel torque distribution is divided into the torque distribution of less wheels, so that the complexity of the wheel torque distribution is reduced, the dynamic propertyand steering stability of the vehicle are ensured, and the demand command of the upper controller is achieved at utmost, and the method is especially suitable for the wheel torque distribution underthe working condition where the wheel capacity is limited or the wheels are damaged.

The invention provides a pavement concave-convex degree adaptive adjustment steering method and system. The pavement concave-convex degree adaptive adjustment steering system comprises an environmentsensor, a controller and a power-assisted steering system, wherein the controller comprises a processor and a memorizer, and the processor is used for realizing instructions stored in the memorizer according to the following steps: 1) acquiring pavement situations detected by the environment sensor; 2) judging the concave-convex degree of a pavement; and 3) adjusting a damping coefficient of the steering system according to the concave-convex degree of the pavement. The sensor can acquire the pavement situations, and the processor in the controller generates a depth map and a vertical view forthe pavement according to information acquired by the sensor, evaluates the pavement situations through a concave-convex degree evaluation function, and confirms steering control parameters. When a driver does not control steering or steering torque is not enough, the controller sends out a signal to the power-assisted steering system, adjusts the steering control parameters, and guarantees steering stability and flexibility of a vehicle. The pavement concave-convex degree adaptive adjustment steering method and system solve the problem that unstable vehicle driving is caused due to the factthat driver does not react in time in steering.

The invention discloses a rotatable lifting forklift. The forklift is characterized in that a supporting seat which horizontally stretches out is arranged on one side of a forklift body, and a lifting sliding rail which extends vertically is arranged on the forklift body; a pallet fork is located above the supporting seat, and the pallet fork is rotationally arranged on a sliding seat of the lifting sliding rail through a rotating shaft; fork arms of the pallet fork are provided with sliding grooves which horizontally extend, and limiting structures are arranged in the sliding grooves; and the limiting structures comprise electromagnets and limiting rods, the limiting rods are arranged in the sliding grooves in a sliding mode, and a lifting supporting mechanism is located on the supporting seat and located between the first fork arm and the second fork arm. According to the optimally-designed intelligent lifting forklift capable of steering, the pallet fork is rotationally arranged onthe sliding seat, so that vertical lifting and horizontal steering of goods are realized; the goods are supported by the lifting supporting mechanism during lifting; and meanwhile, the limiting structures on the fork arms are used for limiting the goods during rotation, so that steering stability of the goods is guaranteed.

The invention relates to an all-terrain rhombic four-wheel leveling and steering device which comprises wheel type walking mechanisms, vehicle body leveling mechanisms, steering mechanisms and a vehicle frame. The number of the wheel type walking mechanisms is four, each wheel type walking mechanism comprises an independently-driven wheel, the four wheels are arranged in a rhombus shape, and a front side, a rear side, a left side and a right side are provided with one wheel respectively. Each wheel is driven by a set of vehicle body leveling mechanisms to ascend and descend relative to the vehicle frame, and the front side wheel and the rear side wheel are driven by a set of steering mechanisms to rotate relative to the vehicle frame. The invention further relates to agricultural machinery. The all-terrain rhombic four-wheel leveling and steering device is arranged at the bottom of the agricultural machinery. The device and the machinery have advantages of stable operation, strong climbing ability, flexible steering and wide application range, and belong to the technical field of the agricultural machinery.

The invention provides a steering control method and system for an air transport vehicle, and is applied to the technical field of semiconductor wafer manufacturing equipment.The steering control method for the air transport vehicle comprises the steps that when steering control is needed, first driving voltage is applied to an electromagnet used for steering control guiding, and the electromagnet drives a guide wheel to move on a sliding rail; steering guiding is carried out in cooperation with an air guide rail; when the guide wheel moves to a first designated position on the sliding rail, the second driving voltage is applied to the electromagnet, and after the guide wheel moves to a second designated position on the sliding rail, the third driving voltage is continuously applied to the electromagnet, and then the power is cut off. Different driving voltages are applied to the rotating electromagnet, so that the rotating electromagnet is in different working states during steering control, the temperature rise condition of the electromagnet is effectively improved, and the situation that the electromagnet rebounds due to power failure, and the cooperation between the guide wheel and the air guide rail is affected is improved.

The invention discloses a steering hinge device for an extra-heavy type vibratory roller. The steering hinge device comprises a rear hinged frame, a bearing, a hinge pin and a front hinged frame; the rear hinged frame is hinged to the front hinged frame through the hinge pin, the bearing is connected between the hinge pin and the front hinged frame in a sleeved mode, and the rear hinged frame comprises an outer support rod and an inner support rod; the device further comprises a sliding sleeve and multiple lock nuts, the upper end face of the bearing is connected with the lower end face of the outer support rod, the sliding sleeve is connected between the lower end of the hinge pin and the inner support rod in a sleeved mode, the lock nuts are installed on the hinge pin at the lower end of the sliding sleeve, the lock nuts are screwed to push the sliding sleeve to move upwards, and the hinge pin, the outer support rod, the bearing and the sliding sleeve are driven to be closely connected in sequence to control the hinge pin to be locked on the rear hinged frame. The steering hinge device for the extra-heavy type vibratory roller is simple in structure, convenient to install and disassemble and capable of effectively eliminating axial clearances among the hinge pin, the rear hinged frame, the bearing and the front hinged frame, hole or shaft abrasion caused by relative rotation between the hinge pin and the rear hinged frame is eliminated, and the steering stability of the whole machine, the whole machine workability and safe drivability are guaranteed.

The invention discloses a steering hinge device for an extra-heavy type vibratory roller. The steering hinge device comprises a rear hinged frame, a bearing, a hinge pin and a front hinged frame; the rear hinged frame is hinged to the front hinged frame through the hinge pin, the bearing is connected between the hinge pin and the front hinged frame in a sleeved mode, and the rear hinged frame comprises an outer support rod and an inner support rod; the device further comprises a sliding sleeve and multiple lock nuts, the upper end face of the bearing is connected with the lower end face of the outer support rod, the sliding sleeve is connected between the lower end of the hinge pin and the inner support rod in a sleeved mode, the lock nuts are installed on the hinge pin at the lower end of the sliding sleeve, the lock nuts are screwed to push the sliding sleeve to move upwards, and the hinge pin, the outer support rod, the bearing and the sliding sleeve are driven to be closely connected in sequence to control the hinge pin to be locked on the rear hinged frame. The steering hinge device for the extra-heavy type vibratory roller is simple in structure, convenient to install and disassemble and capable of effectively eliminating axial clearances among the hinge pin, the rear hinged frame, the bearing and the front hinged frame, hole or shaft abrasion caused by relative rotation between the hinge pin and the rear hinged frame is eliminated, and the steering stability of the whole machine, the whole machine workability and safe drivability are guaranteed.

An angle of elevation (a) of an intersection point (A), formed between a line (q) connecting intersection points (A, B) and a reference line (n) traversing a center of curvature (C) of an arc and parallel to the tire rotation axis, is from 40° to 60°, where a curve tracing the innermost region in the tire radial direction is approximated by the arc with the method of least squares, the intersection point (A) is an intersection point of the ply main body (6a) with a normal line (m) from the center of curvature (C) of the arc to a part of the ply main body (6a) convex outward in the tire width direction, and the intersection point (B) is an intersection point of the ply main body (6a) with the reference line (n). A radius of curvature of the arc is from 5 mm to 80 mm.

The invention provides a wheel torque distribution method of a multi-shaft drive distributed vehicle. According to the method, a vehicle longitudinal force and a vehicle yaw moment command of an uppercontroller are converted into a difference of a wheel analysis longitudinal torque and a wheel analysis steering torque, and the torque distribution of the wheel is divided into a stage of left distribution and a right distribution and a stage of a front distribution and a rear distribution; when in the stage of left and right distributions, the wheels at one side is regarded as a whole, and theprinciple of steering priority is adopted; in the stage of the front and back distributions, an average distribution mode under different wheel limit values is adopted, so that the torque load of thewheels at the same side is similar, the torque among the wheels at the same side is mutually compensated, and the torque sum of the wheels at the same side is accurately distributed. By means of the method, the complex multi-axle wheel torque distribution is divided into the torque distribution of less wheels, so that the complexity of the wheel torque distribution is reduced, the dynamic propertyand steering stability of the vehicle are ensured, and the demand command of the upper controller is achieved at utmost, and the method is especially suitable for the wheel torque distribution underthe working condition where the wheel capacity is limited or the wheels are damaged.

The invention discloses a wire-controlled hydraulic steering device comprising a steering input unit, a control unit, a pressure generating unit, a wheel steering unit and a fuel supply line, the oilsupply line connects the oil to the pressure generating unit to form two oil supply branches for supplying to the left and right wheels respectively, a switch valve is installed at the connection partof the pressure generating unit and each oil supply branch, the control unit prevents oil pressure from being supplied from the pressure generating unit to the oil supply branch when the on-off valveis controlled to be closed, and when a leak occurs, the control unit controls the separation valve to open the two oil supply branches to be connected to each other and shield the oil leak section toensure sufficient steering oil pressure. The invention is provided with two oil supply branches, which are respectively supplied to left and right wheels, and the two oil supply branches are mutuallyindependent when oil leakage does not occur. When leakage occurs, the two oil supply branches are opened through the separation valve to connect with each other and shield the oil leakage section toensure sufficient steering oil pressure.

The invention discloses an eccentric type steering assembly and a three-wheeled motorcycle. The eccentric type steering assembly comprises a steering driving system and a steering system, a first rotating axis of the steering driving system is not concentric with a second rotating axis of the steering system, and the second rotating axis is coaxial with a frame vertical pipe and is positioned on the rear side of the first rotating axis. According to the eccentric type steering assembly and the three-wheeled motorcycle, the structure that the steering driving system and the steering system areseparated is adopted, the rotating center of the steering driving system and the rotating center of the steering system are arranged to be of a non-concentric structure, the first rotating axis is close to the front, and the second rotating axis is relatively close to the rear and positioned on the frame vertical pipe; under the condition that the length of whole vehicles is the same, the layout of the whole vehicle can be more compact, passenger and cargo carrying space is favorably expanded, the overall weight of the vehicle is reduced, the energy conservation and consumption reduction is facilitated, and the manufacturing cost is reduced; and for the three-wheeled motorcycles with the same passenger and cargo carrying space, according to the scheme, the wheel base between a front wheeland rear wheels can be greatly shortened, and the strength and the stability are improved.

The invention provides a mechanical four-wheel steering mechanism, and relates to the technical field of steering systems. The mechanical four-wheel steering mechanism is composed of a steering control mechanism and a wheel edge steering mechanism, and the functions of the two parts are mainly achieved through gear transmission and shaft transmission. The steering control mechanism is mainly composed of a steering clutch, and the steering clutch is located between a front steering transmission shaft and a rear steering transmission shaft. The wheel edge steering mechanism is mainly composed ofa planet-like gear mechanism, the planet-like gear mechanism is mainly fixed to a wheel edge, and a gear ring is an incomplete gear ring and connected with a steering knuckle through a steering pin.According to the mechanical four-wheel steering mechanism, the inherent defects of a traditional connecting rod steering trapezoidal mechanism are overcome, and the control stability and the steeringportability of an automobile are effectively improved.

The invention discloses a steering system for eccentric steering and a three-wheeled motorcycle. The steering system is characterized in that a steering center line is a steering axis of a wheel, thesteering system is used for driving the wheel to steer, and a steering column seat is connected to the wheel and drives the wheel to steer. When the steering system is used, the rotating center of a steering driving system and the rotating center of the steering system are arranged to be of a non-concentric structure, the rotation driving axis is close to the front, the steering center line is positioned at the rear relatively and is located on a frame vertical pipe, the whole motorcycle can be arranged more compactly under the condition that the whole length of the whole motorcycle is the same, and the passenger carrying space can be improved; for the scheme in which the cargo carrying space is equivalent to the passenger carrying space, the shaft distance between the front wheel and therear wheel can be greatly shortened, and the strength and the stability are improved; and meanwhile, the rear steering system close to the rear part is relatively low and is relatively separated fromthe frame, so that the driving comfort is increased, the influence of vibration on steering driving can be reduced, the steering stability is kept, and the steering system is suitable for the structure for separating the steering driving system from the frame.

The invention discloses a driving limited-slip differential, comprising an outer shell, an inner shell, a planetary gear train, a limited-slip friction pair and a hydraulic pressure thrust mechanism, wherein, the joint cross of the planetary gear train is placed in a cross round groove of a left semi-shell and a right semi-shell of an inner shell and is fixedly connected with the left semi-shell and the right semi-shell; a first cavity which is matched with a compression ring of the hydraulic pressure thrust mechanism and a seat ring of a thrust bearing is arranged in the outer shell; the compression ring is arranged in the first cavity; a lateral end face of the compression ring is adjacent to the limited-slip friction pair; a push rod is arranged on the other lateral end face; a return spring is sheathed on the push rod; the poppet of the differential is internally provided with an oil duct and a secondary cavity which is matched with a circular ring hydraulic cylinder of the hydraulic pressure thrust mechanism and the seat ring of the thrust bearing; the circular ring hydraulic cylinder is arranged in the second cavity; the two seat rings of the thrust bearing are respectively placed in the first cavity and the second cavity; the seat ring of the first cavity and the return spring are tightly contacted with the head part of the push rod; the seat ring of the second cavity is tightly contacted with the piston of the circular ring hydraulic cylinder; and the oil duct is communicated with the cylinder body of the circular ring hydraulic cylinder.

An angle of elevation (α) of an intersection point (A), formed between a line (q) connecting intersection points (A, B) and a reference line (n) traversing a center of curvature (C) of an arc and parallel to the tire rotation axis, is from 40° to 60°, where a curve tracing the innermost region in the tire radial direction is approximated by the arc with the method of least squares, the intersection point (A) is an intersection point of the ply main body (6a) with a normal line (m) from the center of curvature (C) of the arc to a part of the ply main body (6a) convex outward in the tire width direction, and the intersection point (B) is an intersection point of the ply main body (6a) with the reference line (n). A radius of curvature of the arc is from 5 mm to 80 mm.