Vehicle roll motion control mechanism and control method

Abstract

The present application relates to a kind of vehicle roll movement control mechanism and control method, belong to vehicle chassis technical field, research active roll vehicle's roll drive and motion control technology, the key technical measures of vehicle roll movement control mechanism are as follows: two shock absorbers are respectively connected with one hydraulic cylinder in parallel, the rod cavity of each oil cylinder and its own rodless cavity are connected by oil pipe and on-off valve, control two on-off valves to simultaneously disconnect two groups of oil circuit, oil cylinder lock shock absorber, improve the rigidity of roll movement transmission system, realize the timing response and accurate control of vehicle's roll movement;Two groups of oil circuit are connected simultaneously, and the shock absorber is released, and the shock absorber works normally, to guarantee the ride comfort and comfort of vehicle.

Description

Technical Field

[0001] This invention relates to a vehicle roll motion control mechanism and control method, belonging to the field of vehicle chassis technology, and particularly to roll drive and motion control technology for vehicles with active roll. Background Technology

[0002] Active roll control systems improve vehicle stability, ride comfort, speed, and safety by controlling the degree to which the vehicle tilts towards the inside of the curve when turning. For vehicles with small wheelbase and narrow body, active roll technology can automatically tilt the vehicle at a certain angle when cornering or driving over sloping surfaces, generating a balancing torque to resist centrifugal force or rollover force and maintain a stable driving posture.

[0003] In vehicles with active roll control, increasing speed during cornering leads to increased centrifugal force, requiring a larger roll angle for stable driving. Active roll control vehicles utilize a suspension roll system to achieve rapid, large-amplitude displacement between the two wheels and the vehicle body, enabling timely and large-angle roll. This necessitates a rapid response to the roll motion. For active roll control vehicles designed for narrow wheelbases and narrow bodies, universal joints cannot effectively transmit movement and power between the two differential half-shafts and the drive wheels. Therefore, using two in-wheel motors is the most economical and practical version for active roll control vehicles. The hub motor has a large mass and moment of inertia, resulting in a large unsprung mass. When an active roll vehicle drives the vehicle's roll motion through a stabilizer bar and dual shock absorbers in series, one shock absorber continues to compress while the other releases, causing a lag in the vehicle's roll angle response and affecting the vehicle's roll motion response speed. In order to suppress the roll angle response lag caused by the suspension spring damping system, reduce the nonlinearity of the roll motion transmission system, and improve the vehicle's roll motion response speed and control accuracy, a roll motion control system for active roll vehicles is studied to improve vehicle speed and driving safety. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle roll motion control mechanism and method. Two shock absorbers are each connected in parallel to a hydraulic cylinder. The rod chamber and rodless chamber of each cylinder are connected via oil pipes and on / off valves. Disconnecting the oil circuit locks the shock absorber, improving the rigidity of the roll motion transmission system and achieving timely response and precise control of the vehicle's roll motion. Connecting the oil circuit releases the shock absorber, allowing it to operate normally and ensuring smooth and comfortable vehicle operation.

[0005] The technical solutions adopted to achieve the purpose of this invention include:

[0006] The vehicle roll motion control mechanism includes: a lower swing arm (11) with one end rotatably connected to the vehicle body (10) and the other end connected to a wheel (14), the wheel (14) rotating relative to the lower swing arm (11) at the connection point; an upper swing arm (13) with one end rotatably connected to the vehicle body (10); a shock absorber (12) with one end rotatably connected to the upper swing arm (13) and the other end rotatably connected to the lower swing arm (11); the rotation connection points between the vehicle body (10) and the lower swing arm (11) and between the vehicle body (10) and the upper swing arm (13) are respectively located on the front and rear sides of the shock absorber, and the rotation axis at each rotation connection point is perpendicular to the vehicle body (10). A set of wheel linkage mechanisms is formed on the vertical plane of the vehicle body; two sets of identical wheel linkage mechanisms are arranged symmetrically on the vertical plane of the vehicle body according to the given wheel track and share the same vehicle body (10). The midpoint O of the balance bar (15) in the horizontal plane of the vehicle body is rotatably connected to the vehicle body (10). The rotation axis is perpendicular to the horizontal plane of the vehicle body and is located in the vertical plane of the vehicle body. The two ends of the balance bar (15) are each connected to a tie rod (16) by ball hinges. The other ends of the two tie rods (16) of equal length are respectively connected to the upper swing rod (13) in the left and right wheel linkage mechanisms by ball hinges. The two connection points E and F are symmetrical about the vertical plane of the vehicle body.

[0007] Parallel connection method of hydraulic cylinders: In the projection view of the vertical plane of the vehicle body, set: the connection point Q between the vehicle body (10) and the upper swing rod (13), the connection point P between the vehicle body (10) and the lower swing rod (11), the connection point D between the shock absorber (12) and the upper swing rod (13), and the connection point C between the shock absorber (12) and the lower swing rod (11); one end of the hydraulic cylinder (20) is rotatably connected to the upper swing rod (13) at connection point D', and the other end of the hydraulic cylinder (20) is rotatably connected to the lower swing rod (11) at connection point C', C'D'=CD, the rotation axis at each connection point is perpendicular to the vertical plane of the vehicle body, and point C' is located on the circumference with P as the center and PC as the radius, and point D' is located on the circumference with Q as the center. On a circle with radius D, two cylinders are symmetrically installed with respect to the vertical plane of the vehicle body. The rod chamber and rodless chamber of each cylinder are connected through an oil pipe (201) and a shut-off valve (202). Controlling the two shut-off valves simultaneously disconnects the two sets of oil circuits and locks the shock absorber in the cylinder, thereby improving the rigidity of the tilt motion transmission system and realizing the timing response and precise control of the tilt motion. At the same time, the two sets of oil circuits are connected and the shock absorber is released, so that the shock absorber works normally to ensure the smoothness and comfort of the vehicle driving. The tilt motor (21) drives the balance bar (15) to rotate through the reducer (22) and the vehicle tilts, forming a vehicle tilt motion control mechanism.

[0008] Wherein: In the horizontal vertical plane of the vehicle body, the angle α between the balance bar (15) and the vehicle body (10) is the roll actuation angle, and the angle β between the vehicle body and the ground is the vehicle roll angle. When the roll actuation angle α=0, the vehicle roll angle β=0, the vehicle roll motion control mechanism is symmetrical about the vertical plane of the vehicle body, and the vehicle travels upright; when α≠0, the roll function β=f(α) is obtained to obtain the relationship between the vehicle roll angle β and the roll actuation angle α, the vehicle travels with a roll, and the vehicle roll motion control mechanism controls the roll actuation angle. Angle α enables vehicle roll motion; when the lateral external force on the vehicle changes during driving, the roll actuation angle α changes. At this time, the control on-off valve disconnects the oil circuit and the oil cylinder locks the two shock absorbers, eliminating the roll angle response lag caused by the suspension spring damping system, improving the rigidity of the roll motion transmission system, and realizing timely response and precise control of roll motion; when the roll actuation angle α remains unchanged, the oil circuit is connected and the shock absorbers are released, and the shock absorbers work normally to ensure the smoothness and comfort of the vehicle's active roll motion.

[0009] In the above-mentioned vehicle roll motion control mechanism, the rotation connection point P between the body (10) and the lower swing arm (11) and the rotation connection point Q between the body (10) and the upper swing arm (13) are respectively placed on the front and rear sides of the shock absorber. In order to change the motion and force characteristics of the shock absorber during the vehicle roll motion, the rotation connection points between the body (10) and the lower swing arm (11) and the upper swing arm (13) are placed on the same side of the shock absorber. Other structures and compositions are the same, and the parallel connection method between the oil cylinder and the shock absorber is the same, forming a vehicle roll motion control mechanism. At the same time, the oil circuits of the two oil cylinders are disconnected or connected, corresponding to the locking or releasing of the two shock absorbers respectively. By changing the rigidity of the roll motion transmission system, the vehicle roll motion timing and precise control are achieved, while ensuring the smoothness and comfort of the vehicle's active roll motion.

[0010] The transverse vehicle roll motion control mechanism includes: a body (10), a lower swing arm (11), a positioning rod (17), and an upper swing arm (13) connected in sequence. The rotation axis at each connection point is perpendicular to the transverse plane of the body, forming a quadrilateral closed motion chain with the same relative motion plane. The wheel axle (18) is rotatably connected to the positioning rod (17), and the wheel (14) is rotatably connected to the wheel axle (18). The wheel (14) rotates relative to the wheel axle (18), and the vehicle moves. The wheel (14) and the wheel axle (18) rotate together around the positioning rod (17), and the vehicle steers, forming a set of wheel positioning mechanisms. Two identical sets of wheel positioning mechanisms are also included. The wheel alignment mechanism is arranged symmetrically on the left and right sides of the vehicle body vertical plane according to the given wheel track and shares the same vehicle body. The midpoint O of the balance bar (15) in the horizontal plane of the vehicle body is rotatably connected to the vehicle body (10). The rotation axis is perpendicular to the horizontal plane of the vehicle body and is located in the vertical plane of the vehicle body. The two ends A and B of the balance bar (15) are each rotatably connected to a shock absorber (12). The other ends of the two shock absorbers (12) are rotatably connected to the lower swing arm (11) in the left and right wheel alignment mechanism respectively. The two connection points G and H are symmetrical about the vertical plane of the vehicle body. The rotation axis at each rotation connection point is perpendicular to the horizontal plane of the vehicle body. The two shock absorbers (12) are working under pressure.

[0011] Parallel connection method of hydraulic cylinders: In the projection view of the horizontal vertical plane of the vehicle body, set the connection point M between the lower swing rod (11) and the vehicle body (10), one end of the hydraulic cylinder (20) is rotatably connected to the balance bar (15) at connection point A', the other end of the hydraulic cylinder (20) is rotatably connected to the lower swing rod (11) at connection point G', A'G'=AG, the rotation axis at each connection point is perpendicular to the horizontal vertical plane of the vehicle body, and point A' is located on the circumference of the circle with center O and radius OA, and point G' is located on the circumference of the circle with center M and radius MG. The two hydraulic cylinders are installed symmetrically with respect to the vertical plane of the vehicle body. The rod chamber and rodless chamber of each cylinder are connected by an oil pipe (201) and an on / off valve (202); the two on / off valves are controlled to simultaneously disconnect the two sets of oil circuits and lock the shock absorber, thereby improving the rigidity of the tilt motion transmission system and realizing the timing response and precise control of the tilt motion. At the same time, the two sets of oil circuits are connected and the shock absorber is released, so that the shock absorber works normally to ensure the smoothness and comfort of the vehicle driving. The tilt motor (21) drives the balance bar (15) to rotate through the reducer (22) and the vehicle tilts, forming a transverse vehicle tilt motion control mechanism.

[0012] In the aforementioned vehicle roll motion control mechanism, the roll motor is a DC servo motor, and the reducer is an RV reducer or a planetary gear reducer.

[0013] The active tilt tricycle comprises: a rear-mounted vehicle tilt motion control mechanism connected to a front wheel via a suspension system on the same vehicle body with a given wheelbase; the front wheel is located within the vertical plane of the vehicle body; all wheels use tires with an arc-shaped cross-section; front-wheel steering; dual rear-wheel drive; the vehicle tilt motion control mechanism drives and controls the vehicle's tilt motion; the front wheel and the vehicle body adaptively tilt together; thus forming an active tilt vehicle with dual rear-wheel drive and front-wheel steering characteristics; achieving timely and precise control of the vehicle's tilt motion; and ensuring the smoothness and comfort of the active tilt vehicle's ride.

[0014] The active tilting tricycle comprises: a set of transverse vehicle tilt motion control mechanisms at the front, connected to a rear wheel on the same body according to a given wheelbase via a set of suspensions. The rear wheel is located within the vertical plane of the vehicle body. All wheels use tires with an arc-shaped cross-section. It features dual front-wheel steering and single rear-wheel drive. The transverse vehicle tilt motion control mechanism drives and controls the vehicle's tilt motion. The rear wheel and the vehicle body adaptively tilt together, forming an active tilting vehicle with single rear-wheel drive and dual front-wheel steering characteristics. This achieves timely and precise control of the vehicle's tilt motion and ensures the smoothness and comfort of the active tilting vehicle.

[0015] In the aforementioned vehicle roll motion control mechanism, each of the two shock absorbers is connected in parallel with a hydraulic cylinder. The rod chamber and rodless chamber of each cylinder are connected through an oil pipe and an on / off valve. The roll motor drives the stabilizer bar to rotate through a reducer. The roll angle α of the stabilizer bar relative to the vehicle body is the roll actuation angle. Changes in α result in vehicle roll motion. The roll motion control method includes the following steps:

[0016] (1) When the tilt actuation angle α changes, the two on / off valves are controlled to simultaneously disconnect the two sets of oil circuits and lock the shock absorber in the cylinder, thereby improving the rigidity of the tilt motion transmission system and achieving precise control of the tilt motion timing.

[0017] (2) When the roll actuation angle α remains unchanged, both sets of oil circuits are connected at the same time and the shock absorbers are released. The shock absorbers work normally, ensuring vehicle comfort and dynamic stability.

[0018] (3) After parking, α=0, the handbrake is engaged, and the oil circuit and cylinder locking shock absorber are disconnected to improve the static stability of the vehicle when parked.

[0019] The beneficial effects of this invention are as follows: the proposed vehicle roll motion control mechanism and method involve connecting two shock absorbers each to a hydraulic cylinder in parallel. The rod chamber and rodless chamber of each cylinder are connected through an oil pipe and an on / off valve. Disconnecting the oil circuit locks the shock absorber, thereby improving the rigidity of the roll motion transmission system. This eliminates the lag in vehicle roll angle response caused by the suspension spring damping system, reduces the nonlinearity of the roll motion transmission system, and achieves timely roll motion response and precise control. Connecting the oil circuit releases the shock absorber, allowing it to operate normally and ensuring smooth and comfortable vehicle driving. Attached Figure Description

[0020] Figure 1 A simplified diagram of the vehicle roll control mechanism;

[0021] Figure 2 Diagram showing the parallel connection positions of the hydraulic cylinders in the vehicle tilt motion control mechanism;

[0022] Figure 3 A simplified diagram of a vehicle roll motion control mechanism;

[0023] Figure 4 A diagram showing the parallel connection positions of hydraulic cylinders in a vehicle tilt motion control mechanism.

[0024] Figure 5 A simplified diagram of a transverse vehicle roll motion control mechanism;

[0025] Figure 6 This is a diagram showing the parallel connection positions of the hydraulic cylinders in the transverse vehicle tilt motion control mechanism.

[0026] Figure 7 This is a schematic diagram of the active tilting tricycle.

[0027] Figure 8 This is a schematic diagram of the working principle of an active tilting tricycle.

[0028] In the diagram: 10--Body body, 11--Lower swing arm, 12--Shock absorber, 13--Upper swing arm, 14--Wheel, 15--Stabilizer bar, 16--Tie bar, 17--Positioning rod, 18--Wheel axle, 20--Hydraulic cylinder, 21--Tilting motor, 22--Reducer. Implementation

[0029] The embodiments of the present invention will now be described with reference to the accompanying drawings:

[0030] Figure 1The diagram shown illustrates a simplified vehicle roll control mechanism. This mechanism includes: a lower control arm (11) with one end rotatably connected to the vehicle body (10) and the other end connected to a wheel (14). The wheel (14) rotates relative to the lower control arm (11) at the connection point. An upper control arm (13) is rotatably connected to the vehicle body (10). A shock absorber (12) is rotatably connected to the upper control arm (13) and the other end to the lower control arm (11). The rotation connection points between the vehicle body (10) and the lower control arm (11) and between the vehicle body (10) and the upper control arm (13) are located on the front and rear sides of the shock absorber, respectively. The rotation axis at each connection point... The lines are all perpendicular to the vertical plane of the vehicle body, forming a set of wheel linkage mechanisms; the two sets of wheel linkage mechanisms with the same geometric parameters and performance parameters are arranged symmetrically on the left and right sides of the vertical plane of the vehicle body according to the given wheel track and share the same vehicle body (10). The midpoint O of the balance bar (15) in the horizontal plane of the vehicle body is rotatably connected to the vehicle body (10). The rotation axis is perpendicular to the horizontal plane of the vehicle body and is located in the vertical plane of the vehicle body. The two ends of the balance bar (15) are each connected to a tie rod (16) by ball hinges. The other ends of the two tie rods (16) of equal length are respectively connected to the upper swing rod (13) in the left and right wheel linkage mechanisms by ball hinges. The two connection points E and F are symmetrical about the vertical plane of the vehicle body.

[0031] Figure 2 The diagram shows the parallel connection position of the cylinders in the vehicle roll motion control mechanism. The parallel connection method of the cylinders is as follows: In the projection view of the vertical plane of the vehicle body, set: the connection point Q between the vehicle body (10) and the upper swing arm (13), and the connection point P between the vehicle body (10) and the lower swing arm (11); the connection point D between the shock absorber (12) and the upper swing arm (13), and the connection point C between the shock absorber (12) and the lower swing arm (11); one end of the cylinder (20) is rotatably connected to the upper swing arm (13) at connection point D', and the other end of the cylinder (20) is rotatably connected to the lower swing arm (11) at connection point C', C'D'=CD, the rotation axis at each connection point is perpendicular to the vertical plane of the vehicle body, and point C' is located on the circumference of the circle with P as the center and PC as the radius. Point D' is located on the circumference of a circle with Q as the center and QD as the radius. The two cylinders are installed symmetrically with respect to the vertical plane of the vehicle body. The rod chamber and rodless chamber of each cylinder are connected through an oil pipe (201) and a shut-off valve (202). The two shut-off valves are controlled to simultaneously disconnect the two sets of oil circuits and lock the cylinders to improve the rigidity of the tilt motion transmission system, thereby achieving timely response and precise control of the tilt motion. At the same time, the two sets of oil circuits are connected and the shock absorbers are released, so that the shock absorbers can work normally to ensure the smoothness and comfort of the vehicle driving. The tilt motor (21) drives the balance bar (15) to rotate through the reducer (22) and the vehicle tilts, forming a vehicle tilt motion control mechanism.

[0032] Wherein: In the horizontal vertical plane of the vehicle body, the angle α between the balance bar (15) and the vehicle body (10) is the roll actuation angle, and the angle β between the vehicle body and the ground is the vehicle roll angle. When the roll actuation angle α=0, the vehicle roll angle β=0, the vehicle roll motion control mechanism is symmetrical about the vertical plane of the vehicle body, and the vehicle travels upright; when α≠0, the roll function β=f(α) is obtained to obtain the relationship between the vehicle roll angle β and the roll actuation angle α, the vehicle travels with a roll, and the vehicle roll motion control mechanism controls the roll actuation angle. Angle α enables vehicle roll motion; when the lateral external force on the vehicle changes during driving, the roll actuation angle α changes. At this time, the control on-off valve disconnects the oil circuit and the oil cylinder locks the two shock absorbers, eliminating the roll angle response lag caused by the suspension spring damping system, improving the rigidity of the roll motion transmission system, and realizing timely response and precise control of roll motion; when the roll actuation angle α remains unchanged, the oil circuit is connected and the shock absorbers are released, and the shock absorbers work normally to ensure the smoothness and comfort of the vehicle's active roll motion.

[0033] Figure 3 The diagram shown is a simplified representation of a vehicle roll motion control mechanism. Figure 1 In the vehicle roll motion control mechanism shown, the rotation connection point P between the vehicle body (10) and the lower swing arm (11) and the rotation connection point Q between the vehicle body (10) and the upper swing arm (13) are respectively located on the front and rear sides of the shock absorber. In order to change the motion and force characteristics of the shock absorber during the vehicle roll motion, the rotation connection points P and Q between the vehicle body (10) and the lower swing arm (11) and the upper swing arm (13) are placed on the same side of the shock absorber, such as... Figure 3 As shown; other structures and components are the same, and the parallel connection method of the hydraulic cylinder and shock absorber is the same, such as Figure 4 As shown, a vehicle roll motion control mechanism is formed, which simultaneously controls the oil circuits of two cylinders to disconnect or connect, corresponding to the locking or releasing of two shock absorbers respectively. By changing the rigidity of the roll motion transmission system, the timing and precise control of the vehicle roll motion are achieved, while ensuring the smoothness and comfort of the vehicle's active roll motion.

[0034] Figure 5The schematic diagram of the transverse vehicle roll motion control mechanism shown includes: a vehicle body (10), a lower swing arm (11), a positioning rod (17), and an upper swing arm (13) connected in sequence. The rotation axis at each connection point is perpendicular to the transverse plane of the vehicle body, forming a parallelogram closed motion chain with the same relative motion plane. The wheel axle (18) is rotatably connected to the positioning rod (17), and the wheel (14) is rotatably connected to the wheel axle (18). The wheel (14) rotates relative to the wheel axle (18), and the vehicle moves. The wheel (14) and the wheel axle (18) rotate together around the positioning rod (17), and the vehicle steers, forming a set of wheel positioning mechanisms. The wheel alignment mechanisms with the same geometric parameters and performance parameters are arranged symmetrically on the left and right sides of the vehicle body vertical plane according to the given wheel track and share the same vehicle body. The midpoint O of the balance bar (15) in the horizontal plane of the vehicle body is rotatably connected to the vehicle body (10). The rotation axis is perpendicular to the horizontal plane of the vehicle body and is located in the vertical plane of the vehicle body. The two ends A and B of the balance bar (15) are each rotatably connected to a shock absorber (12), OA=OB. The other ends of the two shock absorbers (12) are rotatably connected to the lower swing arm (11) in the left and right wheel alignment mechanisms respectively. The two connection points G and H are symmetrical about the vertical plane of the vehicle body. The rotation axis at each rotation connection point is perpendicular to the horizontal plane of the vehicle body. The two shock absorbers (12) are working under pressure.

[0035] Figure 6 The diagram shows the parallel connection position of the cylinders in the transverse vehicle tilt motion control mechanism. The cylinder parallel connection method is as follows: In the projection view of the vehicle body's horizontal plane, the connection points between the two lower swing arms (11) and the vehicle body (10) are set as M and N, respectively. One end of one cylinder (20) is rotatably connected to the balance bar (15) at connection point A', and the other end of the cylinder (20) is rotatably connected to the lower swing arm (11) at connection point G', where A'G'=AG. One end of the other cylinder is rotatably connected to the balance bar (15) at connection point B', and the other end of the cylinder is rotatably connected to the lower swing arm at connection point H', where B'H'=BH. The rotation axis at each connection point is perpendicular to the horizontal plane of the vehicle body, and points A' and B' are located on the circumference of a circle with center O and radius OA. Point G' Located on the circumference with M as the center and MG as the radius, point H' is located on the circumference with N as the center and NH as the radius, MG=NH, the two cylinders are installed symmetrically with the vertical plane of the vehicle body, the rod chamber of each cylinder and its own rodless chamber are connected through oil pipe (201) and on / off valve (202); control the two on / off valves to simultaneously disconnect the two sets of oil circuits, lock the cylinders and shock absorbers, improve the rigidity of the tilt motion transmission system, realize the timing response and precise control of tilt motion, and at the same time connect the two sets of oil circuits and release the shock absorbers, so that the shock absorbers work normally to ensure the smoothness and comfort of vehicle driving; the tilt motor (21) drives the balance bar (15) to rotate through the reducer (22) and the vehicle tilts, forming a transverse vehicle tilt motion control mechanism.

[0036] for Figure 1, 3 In the vehicle roll motion control mechanism shown in Figure 5, the roll motor is a DC servo motor, and the reducer is an RV reducer or a planetary gear reducer.

[0037] Figure 7 The diagram shown illustrates the principle of an active tilting tricycle. The active tilting tricycle includes: a set of... Figure 1 or Figure 3 The vehicle roll motion control mechanism shown is rear-mounted. A front wheel is connected to the same body along a given wheelbase via a suspension system. The front wheel is located within the vertical plane of the vehicle body. All wheels are GB 518-2007 motorcycle tires with a circular cross-section. The three wheels are arranged in an isosceles triangle, with the vertices of the isosceles triangle located within the vertical plane of the vehicle body and the base perpendicular to the vertical plane. The length of the base of the isosceles triangle is the track width, and the height above the base is the wheelbase. A single front wheel steers, while the dual rear wheel hub motors drive the vehicle. The roll motion control mechanism drives and controls the vehicle's roll motion. The front wheel and the vehicle body adaptively roll together, forming an active roll vehicle with dual rear-wheel drive and front-wheel steering characteristics. This achieves timely and precise control of the vehicle's roll motion, while ensuring smooth and comfortable driving.

[0038] Figure 8 The diagram shown illustrates the principle of an active tilting tricycle. The active tilting tricycle includes: a set of... Figure 5 The transverse vehicle roll motion control mechanism shown is front-mounted. A rear wheel is connected to the same chassis via a suspension system along a given wheelbase. The rear wheel is located within the vertical plane of the chassis. All wheels are GB 518-2007 motorcycle tires with a circular cross-section. The three wheels are arranged in an isosceles triangle, with the vertices of the triangles located within the vertical plane of the chassis and the base perpendicular to the vertical plane. The length of the base of the isosceles triangle is the track width, and the height above the base is the wheelbase. The two front wheels are independently steered, with the outer wheel deflection angle θe and the inner wheel deflection angle θi satisfying the Ackermann steering condition. A single rear wheel hub motor drives the vehicle, and the transverse vehicle roll motion control mechanism drives and controls the vehicle's roll motion. The rear wheel and chassis adaptively roll together, forming an active roll vehicle with single rear-wheel drive and dual front-wheel steering characteristics. This achieves timely and precise control of the vehicle's roll motion, while ensuring the smoothness and comfort of the active roll vehicle.

[0039] for Figure 1 , 3 In the vehicle roll motion control mechanism shown in Figure 5, each of the two shock absorbers is connected in parallel with a hydraulic cylinder. The rod chamber and the rodless chamber of each cylinder are connected through an oil pipe and an on / off valve. The roll motor drives the stabilizer bar to rotate through a reducer. The roll angle α of the stabilizer bar relative to the vehicle body is the roll actuation angle. As α changes, the vehicle rolls. The roll motion control method includes the following steps:

[0040] (1) When the tilt actuation angle α changes, the two on / off valves are controlled to simultaneously disconnect the two sets of oil circuits and lock the shock absorber in the cylinder, thereby improving the rigidity of the tilt motion transmission system and achieving precise control of the tilt motion timing.

[0041] (2) When the roll actuation angle α remains unchanged, both sets of oil circuits are connected at the same time and the shock absorbers are released. The shock absorbers work normally, ensuring vehicle comfort and dynamic stability.

[0042] (3) After parking, α=0, the handbrake is engaged, and the oil circuit and cylinder locking shock absorber are disconnected to improve the static stability of the vehicle when parked.

Claims

1. A vehicle roll motion control mechanism, characterized in that, include: One end of the lower swing arm is rotatably connected to the vehicle body, and the other end is connected to the wheel. The wheel rotates relative to the lower swing arm at the connection point. One end of the upper swing arm is rotatably connected to the vehicle body. One end of the shock absorber is rotatably connected to the upper swing arm, and the other end is rotatably connected to the lower swing arm. The rotation connection points between the vehicle body and the lower swing arm and between the vehicle body and the upper swing arm are respectively located on the front and rear sides of the shock absorber. The rotation axis at each rotation connection point is perpendicular to the vertical plane of the vehicle body, forming a set of wheel linkage mechanisms. Two identical sets of wheel linkage mechanisms are arranged symmetrically on the left and right sides of the vertical plane of the vehicle body according to the given wheel track and share the same vehicle body. The midpoint of the balance bar in the horizontal plane of the vehicle body is rotatably connected to the vehicle body. The rotation axis is perpendicular to the horizontal plane of the vehicle body and is located in the vertical plane of the vehicle body. The two ends of the balance bar are each connected to a tie rod by a ball hinge. The other ends of the two tie rods of equal length are respectively connected to the upper swing arm ball hinge in the left and right wheel linkage mechanisms. The two connection points are symmetrical about the vertical plane of the vehicle body. Parallel connection method for hydraulic cylinders: In the projection view of the vehicle's mid-vertical plane, define: the connection point Q between the vehicle body and the upper swing arm, the connection point P between the vehicle body and the lower swing arm, the connection point D between the shock absorber and the upper swing arm, and the connection point C between the shock absorber and the lower swing arm; one end of the hydraulic cylinder is rotatably connected to the upper swing arm at connection point D', and the other end of the hydraulic cylinder is rotatably connected to the lower swing arm at connection point C', where C'D'=CD. The rotation axis at each connection point is perpendicular to the mid-vertical plane of the vehicle body, and point C' is located on the circumference of a circle with P as the center and PC as the radius, and point D' is located on the circumference of a circle with Q as the center and QD as the radius. Two hydraulic cylinders are symmetrically mounted on the circumference of the vehicle body with respect to the vertical plane. The rod chamber and rodless chamber of each cylinder are connected by oil pipes and on / off valves. Controlling the two on / off valves simultaneously disconnects the two sets of oil circuits and locks the cylinders to lock the shock absorbers, thereby improving the rigidity of the roll motion transmission system and achieving timely response and precise control of roll motion. At the same time, the two sets of oil circuits are connected and the shock absorbers are released, allowing the shock absorbers to work normally to ensure the smoothness and comfort of the vehicle ride. The roll motor drives the balance bar to rotate through the reducer, causing the vehicle to roll.

2. The vehicle roll motion control mechanism according to claim 1, characterized in that, The aforementioned rotational connection points between the vehicle body and the lower control arm and between the vehicle body and the upper control arm are respectively placed on the front and rear sides of the shock absorber. This is changed to placing the rotational connection points between the vehicle body and the lower and upper control arms on the same side of the shock absorber. Other structures and components remain the same, and the parallel connection method between the hydraulic cylinders and the shock absorbers is the same, forming a vehicle roll motion control mechanism. This mechanism simultaneously controls the hydraulic circuits of the two hydraulic cylinders to disconnect or connect, corresponding to the locking or releasing of the two shock absorbers. By changing the rigidity of the roll motion transmission system, it achieves timely and precise control of vehicle roll motion, while ensuring the smoothness and comfort of the vehicle's active roll motion.

3. A transverse vehicle roll motion control mechanism, characterized in that, include: The vehicle body, lower control rod, positioning rod, and upper control rod are sequentially rotatably connected. The rotation axis at each connection point is perpendicular to the vehicle body's transverse plane, forming a quadrilateral closed motion chain with the same relative motion plane. The wheel axle is rotatably connected to the positioning rod, and the wheel is rotatably connected to the wheel axle. The wheel rotates relative to the wheel axle, and the vehicle moves. The wheel and wheel axle rotate together around the positioning rod, and the vehicle steers, forming a set of wheel positioning mechanisms. Two identical sets of wheel positioning mechanisms are arranged symmetrically on the left and right sides of the vehicle body's center vertical plane according to a given wheel track and share the same vehicle body. The midpoint of the balance bar in the vehicle body's transverse plane is rotatably connected to the vehicle body, with the rotation axis perpendicular to the vehicle body's transverse plane and located in the vehicle body's center vertical plane. Each end of the balance bar is rotatably connected to a shock absorber. The other ends of the two shock absorbers are rotatably connected to the lower control rod in the left and right wheel positioning mechanisms, respectively. The two connection points are symmetrical about the vehicle body's center vertical plane, and the rotation axis at each connection point is perpendicular to the vehicle body's transverse plane. The two shock absorbers are working under compression. Parallel cylinder connection method: In the horizontal projection view of the vehicle body, set: M as the connection point between the lower control rod and the vehicle body, O as the connection point between the stabilizer bar and the vehicle body, A as the connection point between the shock absorber and the stabilizer bar, and G as the connection point between the shock absorber and the lower control rod; one end of the hydraulic cylinder is rotatably connected to the stabilizer bar at connection point A', and the other end of the hydraulic cylinder is rotatably connected to the lower control rod at connection point G', where A'G'=AG. The rotation axis at each connection point is perpendicular to the horizontal plane of the vehicle body, and point A' is located on the circumference of a circle with center O and radius OA, and point G' is located on the circumference of a circle with center M and radius MG. Two hydraulic cylinders are symmetrically mounted on the circumference of the vehicle body with respect to the vertical plane. The rod chamber and rodless chamber of each cylinder are connected by oil pipes and on / off valves. Controlling the two on / off valves simultaneously disconnects two sets of oil circuits and locks the cylinders to lock the shock absorbers, thereby improving the rigidity of the roll motion transmission system and achieving timely response and precise control of roll motion. At the same time, the two sets of oil circuits are connected and the shock absorbers are released, allowing the shock absorbers to work normally to ensure the smoothness and comfort of the vehicle ride. The roll motor drives the balance bar to rotate through the reducer, causing the vehicle to roll.

4. An active tilting tricycle, characterized in that, include: A set of vehicle roll motion control mechanisms as described in claim 1 or 2 is rear-mounted, connected to a front wheel on the same vehicle body according to a given wheelbase via a set of suspensions. The front wheel is located within the vertical plane of the vehicle body, and all wheels are tires with an arc-shaped cross-section. The front wheels are steerable, and the vehicle roll motion control mechanism drives and controls the vehicle roll motion. The front wheels and the vehicle body adaptively roll together, forming an active roll vehicle with dual rear-wheel drive and front-wheel steering characteristics. This achieves timely and precise control of the vehicle's roll motion and ensures the smoothness and comfort of the active roll vehicle.

5. An active tilting tricycle, characterized in that, include: A set of transverse vehicle roll motion control mechanisms as described in claim 3 is front-mounted, and a rear wheel is connected to the same vehicle body along a given wheelbase via a set of suspensions. The rear wheel is located within the vertical plane of the vehicle body, and all wheels are tires with an arc-shaped cross-section. The vehicle features dual front-wheel steering and single rear-wheel drive. The transverse vehicle roll motion control mechanism drives and controls the vehicle's roll motion, and the rear wheel and the vehicle body adaptively roll together, forming an active roll vehicle with single rear-wheel drive and dual front-wheel steering characteristics. This achieves timely and precise control of the vehicle's roll motion and ensures the smoothness and comfort of the active roll vehicle.

6. A method for controlling roll motion, characterized in that, include: According to claim 1, 2, or 3, the vehicle roll motion control mechanism involves two shock absorbers each connected in parallel with a hydraulic cylinder. The rod chamber and rodless chamber of each cylinder are connected via oil pipes and on / off valves. The roll motor drives the balance bar to rotate via a reducer. The roll angle α of the balance bar relative to the vehicle body is the roll actuation angle. Changes in α result in vehicle roll motion. The steps are as follows: (1) When the tilt actuation angle α changes, the two on / off valves are controlled to simultaneously disconnect the two sets of oil circuits and lock the shock absorber in the cylinder, thereby improving the rigidity of the tilt motion transmission system and achieving precise control of the tilt motion timing. (2) When the roll actuation angle α remains unchanged, both sets of oil circuits are connected at the same time and the shock absorbers are released. The shock absorbers work normally, ensuring vehicle comfort and dynamic stability. (3) After parking, α=0, the handbrake is engaged, and the oil circuit and cylinder locking shock absorber are disconnected to improve the static stability of the vehicle when parked.

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