Vehicle roll driving control device and active roll vehicle using same

Abstract

The utility model relates to a vehicle roll driving control device and an active roll vehicle using the same, belongs to the technical field of vehicle chassis, and is applied to the roll driving control technology of the active roll vehicle. The principle that an actuating rod is connected with double shock absorbers in series and a torsion rod spring is connected with double connecting rods in series to jointly drive a vehicle to roll to restrain nonlinear motion of a roll system is further applied in a universal mode. The technical scheme is that a rocker arm is connected in series in the process that the torsion rod spring is connected with the double connecting rods in series to control the vehicle to roll; the rocker arm converts input motion into plane motion parallel to wheels, motion decoupling is achieved, merging of a torsion rod spring driving control system is facilitated by changing the ratio of the input arm length to the output arm length of the rocker arm, and under the condition that the non-linear motion of a roll transmission system is restrained, vehicle structure optimization and parameter adjustment are adapted, and installation of all components is facilitated.

Description

Technical Field

[0001] The utility model relates to a vehicle roll drive control device and an active roll vehicle using the device, belonging to the technical field of vehicle chassis, in particular to the roll drive control technology of an active roll vehicle. Background Art

[0002] When an active roll vehicle is driving on a curve, if the driving speed is further increased, the centrifugal force generated will increase, and a larger roll angle will be required for the vehicle to drive stably. The active roll vehicle uses the suspension roll system to make the two wheels move quickly and with a large displacement relative to the body, so as to achieve timely and large-angle roll of the vehicle, which requires a fast response of the roll movement. For active roll vehicles with small wheelbase and narrow body, the universal joint cannot realize the movement and power transmission between the two half-axles of the differential and the drive wheels. Therefore, the active roll vehicle is equipped with two wheel hub motors as the most economical and practical version. However, the mass and moment of inertia of the wheel hub motor are large, which leads to an increase in the unsprung mass. When the active roll vehicle drives the vehicle roll movement through the actuator rod and the dual shock absorbers in series, the shock absorber on one side Continued compression and release of the shock absorber on the other side cause a lag in the vehicle's roll angle response, affecting the response speed of the vehicle's roll motion. 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 response speed, invention patent: Vehicle roll drive device and active roll tricycle using the device, CN2022110023146, on the basis of an actuator rod in series with two shock absorbers to drive the vehicle's roll motion, a torsion bar spring is connected in parallel, and the actuator rod in series with two shock absorbers and the torsion bar spring in series with two connecting rods jointly drive the vehicle's roll, so as to suppress the roll angle response lag caused by the spring damping system of the shock absorber, reduce the nonlinearity of the roll motion transmission system, and improve the vehicle's roll response speed.

[0003] In the principle of "actuating rods in series with double shock absorbers and torsion bar springs in series with double links jointly drive the vehicle roll motion and suppress the nonlinearity of the roll system", in order to improve the versatility of the principle and adapt to the optimization of the structural parameters of active roll vehicles, a rocker arm is connected in series when the torsion bar springs in series with double links control the vehicle roll motion. The rocker arm converts the input motion into motion parallel to the wheel plane to achieve motion decoupling. By changing the input and output arm length ratio of the rocker arm, the torsion bar spring drive control system is easily incorporated. While suppressing the nonlinearity of the roll motion transmission system, the vehicle structure optimization and parameter adjustment are adapted to facilitate the installation of various components. Summary of the Invention

[0004] The purpose of the utility model is to provide a vehicle roll drive control device, which is based on the fact that an actuator rod is connected in series with two shock absorbers to drive the vehicle roll movement, and a torsion bar spring is connected in parallel. The torsion bar spring is connected in series with the front and rear connecting rods on both sides through a rocker arm to control the vehicle roll movement, so as to suppress the roll angle response lag caused by the spring damping system of the shock absorber, reduce the nonlinear movement of the roll transmission system, improve the vehicle roll response speed, and at the same time adapt to vehicle structure optimization, parameter adjustment, and component installation.

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

[0006] The vehicle roll drive control device comprises: a lower swing arm (11) having one end rotatably connected to a vehicle body (10) and the other end connected to a wheel (14); the wheel (14) rotates relative to the lower swing arm (11) at a connection point; an upper swing arm (13) having one end rotatably connected to the vehicle body (10); a shock absorber (12) having one end rotatably connected to the upper swing arm (13) and the other end rotatably connected to the lower swing arm (11); a middle portion of a rocker arm (23) rotatably connected to the upper swing arm (13); the rocker arm (23) rotates relative to the upper swing arm (13); and the rocker arm and the upper swing arm revolve together relative to the vehicle body (10); a front link (24) having one end rotatably connected to the lower swing arm (11) and the other end rotatably connected to the front end of the rocker arm (23); and a rotation axis at each rotation connection point is perpendicular to the mid-vertical plane of the vehicle body, thereby forming a set of wheel positioning mechanisms;

[0007] Two identical wheel alignment mechanisms are arranged symmetrically about the vehicle body's mid-vertical plane according to a given wheelbase and share the same vehicle body (10). The midpoint P of the actuating rod (16) is rotationally connected to the vehicle body (10). The rotation axis L is located in the vehicle body's mid-vertical plane and has an inclination angle θ with the vehicle body's horizontal plane. The two ends of the actuating rod (16) are each connected to a pull rod (15) by a ball hinge. The other ends of the two equal-length pull rods are respectively connected to the upper swing arm ball hinges of the left and right wheel alignment mechanisms. The two connection points are symmetrical about the vehicle body's mid-vertical plane. The torsion bar spring (21) is rotationally connected to the actuating rod (16) around its torsion axis N. The torsion axis N is perpendicular to the rotation axis L of the actuating rod (16) relative to the vehicle body (10) and is connected to the center of the ball hinges at both ends of the actuating rod (16). The two ends of the torsion bar spring (21) are symmetrical about the vertical plane of the vehicle body, and the two ends are connected to a rear link (22) by a ball hinge. The other ends of the two equal-length rear links are respectively connected to the ball hinges at the rear ends of the rocker arms in the left and right wheel positioning mechanisms. The two connection points are symmetrical about the vertical plane of the vehicle body. The roll motor (17) is fixedly installed on the vehicle body (10) through a reducer (18). The roll motor (17) drives the actuating rod (16) to rotate through the reducer (18). The actuating rod (16) is connected in series with the shock absorbers on both sides through the pull rod (15) and the torsion bar spring (21) is connected in series with the front and rear links on both sides through the rocker arms (23) to jointly drive the vehicle roll motion, thereby suppressing the nonlinearity of the roll motion system and forming a vehicle roll drive control device.

[0008] Wherein: the rotation angle α of the actuating rod (16) relative to the vehicle body (10) is the roll actuating angle, and the angle β of the vehicle body relative to the ground is the vehicle roll angle. When the roll actuating angle α=0, the vehicle roll drive control device is symmetrical about the vertical plane of the vehicle body, the vehicle roll angle β=0, and the vehicle travels upright. When the roll actuating angle α≠0, the actuating rod is connected in series with the shock absorbers on both sides through the pull rod, and the torsion bar spring is connected in series with the front and rear links on both sides through the rocker arm, so as to drive the vehicle roll motion in two ways. The torsion bar spring rotates relative to the actuating rod (16) around the torsion axis N, and the torsion bar spring revolves around L together with the actuating rod (16), and the rotation angle is equal to α. The torsion bar spring is subjected to torsional deformation around the torsion axis N to suppress the roll angle response lag caused by the spring damping system of the shock absorbers on both sides, thereby reducing the nonlinear motion of the roll transmission system and improving the roll response speed of the vehicle; the torsion bar spring rotates around the torsion axis N relative to the actuator rod (16) to avoid the motion interference of the dual-path drive, and when α≠0, a roll function β=f(α) representing the relationship between the vehicle roll angle β and the roll actuation angle α is obtained, the vehicle rolls, and the vehicle roll drive control device realizes active control of the vehicle roll motion by controlling the roll actuation angle α, thereby improving the safety and comfort of the active roll vehicle.

[0009] In the above-mentioned vehicle roll drive control device, the torsional stiffness of the torsion bar spring affects the response speed of the vehicle roll system. The greater the torsional stiffness of the torsion bar spring, the weaker the nonlinearity of the roll motion transmission system, the faster the roll response speed, and the higher the vehicle's cornering speed; the smaller the torsional stiffness of the torsion bar spring, the stronger the nonlinearity of the roll motion transmission system, the slower the roll response speed, and the better the independent suspension's ground contouring ability.

[0010] In the above-mentioned vehicle roll drive control device, the roll motor is a permanent magnet synchronous AC motor, and the reducer is an RV reducer or a planetary gear reducer.

[0011] In the above-mentioned vehicle roll drive control device, the rotational connection between the two components is connected by rolling bearings or sliding bearings to enable relative rotational motion between the two components, and the ball hinge connection between the two components uses rod end joint bearings or radial joint bearings.

[0012] In the above-mentioned vehicle roll drive control device, the torsion bar spring controls the vehicle roll motion by connecting the front and rear links in series via a rocker arm. The roll motion is decoupled by the dual-degree-of-freedom motion of the rocker arms on both sides. By changing the arm length ratio λ = IH / JH of the rocker arm, the position change of the connection point D can be adapted to accommodate vehicle structure optimization and parameter adjustment, thereby facilitating the installation of various components.

[0013] The active rolling positive tricycle includes: a group of vehicle rolling drive control devices are placed at the rear, a single wheel is placed in front on the same body according to a given wheelbase, and they share the same mid-vertical plane of the body, front-wheel steering, dual rear-wheel drive, the vehicle rolling drive control device drives and controls the rolling movement of the vehicle, the front wheels steer and adaptively roll together with the body, forming an active rolling vehicle with dual rear-wheel drive and front-wheel steering characteristics, and has the characteristics of good vehicle safety and comfort.

[0014] The beneficial effect of the present utility model lies in that a vehicle roll drive control device and an active roll vehicle using the device are proposed, in which an actuator rod is connected in series with dual shock absorbers through a pull rod, and a torsion bar spring is connected in series with front and rear connecting rods on both sides through a rocker arm, which jointly drive the vehicle roll, so as to suppress the roll angle response lag caused by the spring damping system of the shock absorber, reduce the nonlinear motion of the roll transmission system, increase the vehicle roll response speed, and improve the safety and comfort performance of the active roll vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The schematic diagram of the vehicle roll drive control device;

[0016] Figure 2 This is the schematic diagram of the wheel alignment mechanism projected on the vertical plane of the vehicle body;

[0017] Figure 3 This is a three-dimensional schematic diagram of the vehicle roll drive control device;

[0018] Figure 4 The schematic diagram of the roll motion driven by the actuator rod through the pull rod and the double shock absorber in series;

[0019] Figure 5 This is a schematic diagram showing the principle of controlling roll motion by connecting the torsion bar spring in series with the front and rear links on both sides through the rocker arm;

[0020] Figure 6 The schematic diagram of the roll motion of the vehicle roll drive control device;

[0021] Figure 7 This is the schematic diagram of the vehicle roll drive control device projected on the mid-vertical plane of the vehicle body;

[0022] Figure 8 This is a schematic diagram of the active tilt positive tricycle;

[0023] In the figure: 10--body, 11--lower control arm, 12--shock absorber, 13--upper control arm, 14--wheel, 15--pull rod, 16--actuating rod, 17--roll motor, 18--speed reducer, 21--torsion bar spring, 22--rear link, 23--rocker arm, 24--front link. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present invention according to the accompanying drawings:

[0025] Figure 1 The vehicle roll drive control device shown in the figure is composed of a schematic diagram, wherein the vehicle roll drive control device comprises: one end A of the lower swing arm (11) is rotatably connected to the vehicle body (10), and the other end C is connected to the wheel (14), the wheel (14) rotates relative to the lower swing arm (11) at the connection point C, one end E of the upper swing arm (13) is rotatably connected to the vehicle body (10), one end F of the shock absorber (12) is rotatably connected to the upper swing arm (13), and the other end B is rotatably connected to the lower swing arm (11), the rotation connection point A between the vehicle body (10) and the lower swing arm (11) and the rotation connection point between the vehicle body (10) and the upper swing arm (13) are connected. The connection points E are respectively placed on the front side of the shock absorber (12), the middle of the rocker arm (23) is connected to the point H of the upper rocker arm (13) for rotation, the rocker arm (23) rotates relative to the upper rocker arm (13), and the rocker arm and the upper rocker arm revolve together relative to the connection point E of the vehicle body (10), one end D of the front link (24) is connected to the lower rocker arm (11) for rotation, and the other end I is connected to the front end of the rocker arm (23) for rotation, the rotation axes at the rotation connection points A, B, C, D, E, F, H, and I are all perpendicular to the mid-vertical plane of the vehicle body, and the relative motion planes between the components are parallel to the mid-vertical plane of the vehicle body, forming a set of wheel alignment mechanisms, such as Figure 2 As shown;

[0026] Two identical wheel alignment mechanisms are arranged symmetrically about the vehicle body mid-vertical plane according to a given wheelbase and share the same vehicle body (10). The midpoint P of the actuating rod (16) is rotatably connected to the vehicle body (10). The rotation axis L is located in the vehicle body mid-vertical plane and has an inclination angle θ (such as Figure 7 As shown), the two ends of the actuator rod (16) are connected to a pull rod (15) by a ball hinge, and the other ends of the two equal-length pull rods are respectively connected to the upper swing arm ball hinges of the left and right wheel alignment mechanisms. The two connection points are symmetrical about the vertical plane of the vehicle body, as shown in FIG. Figure 4 As shown; the torsion bar spring (21) is connected to the actuating rod (16) in rotation about its torsion axis N, the torsion axis N is perpendicular to the actuating rod (16) relative to the rotation axis L of the vehicle body (10), and is parallel to the line connecting the ball centers of the ball hinges at both ends of the actuating rod (16), the two end points of the torsion bar spring (21) are symmetrical about the vertical plane in the vehicle body, and the two end points are connected to a rear link (22) by a ball hinge, and the other ends of the two equal-length rear links are respectively connected to the ball hinges at the rear ends of the rocker arms in the left and right wheel alignment mechanisms, and the two connection points are symmetrical about the vertical plane in the vehicle body, as shown. Figure 5As shown; the roll motor (17) is fixedly mounted on the vehicle body (10) through the speed reducer (18), and the roll motor (17) drives the actuator rod (16) to rotate through the speed reducer (18), and the actuator rod (16) is connected in series with the shock absorbers on both sides through the pull rod (15) and the torsion bar spring (21) in series with the front and rear connecting rods on both sides through the rocker arm (23) to jointly drive the vehicle roll motion, suppressing the nonlinearity of the roll motion system, forming a vehicle roll drive control device, as shown Figure 3 As shown, the torsion bar spring (21) moves in two degrees of freedom, and the pull rods (15) on both sides and the rear connecting rod (22) move in space.

[0027] Figure 3 The three-dimensional principle diagram of the vehicle roll drive control device is shown, wherein: the rotation angle α of the actuator rod (16) relative to 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 drive control device is symmetrical about the vertical plane of the vehicle body, the vehicle roll angle β=0, and the vehicle is traveling upright. Figure 1 As shown; when the roll actuation angle α≠0, the actuating rod is connected in series with the shock absorbers on both sides through the pull rod and the torsion bar spring is connected in series with the front and rear connecting rods on both sides through the rocker arm to drive the vehicle roll motion in two ways, the torsion bar spring rotates around the torsion axis N relative to the actuating rod (16), and the torsion bar spring revolves around L together with the actuating rod (16), with the rotation angle equal to α, and the torsion bar spring is used to suppress the roll angle response lag caused by the spring damping system of the shock absorbers on both sides by the torsional deformation around the torsion axis N, so as to reduce the nonlinearity of the roll motion transmission system and improve the roll response speed of the vehicle; the torsion bar spring rotates around the torsion axis N relative to the actuating rod (16) to avoid the motion interference of the two-way drive, when α≠0, the roll function β=f(α) of the relationship between the vehicle roll angle β and the roll actuation angle α is obtained, and the vehicle rolls, as shown Figure 6 As shown, the vehicle roll drive control device realizes active control of the vehicle roll motion by controlling the roll actuation angle α, thereby improving the safety and comfort of the active roll vehicle. Figure 6 In Chinese: When α=28.78°, β=17°.

[0028] for Figure 1 、 3 In the vehicle roll drive control device shown, the rotational connection between the two components is connected by rolling bearings or self-lubricating sliding bearings, so that the two components have relative rotational motion; the ball hinge connection between the two components uses rod end joint bearings GB / T 9161-2001 or radial joint bearings GB / T 9163-2001, and the inner bore axes of the selected rod end joint bearings or radial joint bearings are used vertically and staggered to obtain a larger vehicle roll angle.

[0029] for Figure 1 、 3 In the vehicle roll drive control device shown, and Figure 5 As shown in the schematic diagram of the torsion bar spring controlling the roll motion through the rocker arm in series with the front and rear links on both sides, the torsional stiffness of the torsion bar spring affects the response speed of the vehicle's roll system. The greater the torsion bar spring's torsional stiffness, the weaker the nonlinearity of the roll motion transmission system, the faster the roll response speed, and the higher the vehicle's cornering speed; the smaller the torsion bar spring's torsional stiffness, the stronger the nonlinearity of the roll motion transmission system, the slower the roll response speed, and the better the independent suspension's ground contouring ability.

[0030] for Figure 1 、 3 In the vehicle roll drive control device shown, and Figure 4 In the schematic diagram showing the actuator rod driving the roll motion through a pull rod connected in series with a double shock absorber, a permanent magnet synchronous AC motor is used as the roll motor, and an RV reducer or a planetary gear reducer is used as the reducer.

[0031] for Figure 5 As shown in the schematic diagram, a torsion bar spring is connected in series with the front and rear links on both sides via a rocker arm to control the roll motion of the vehicle. The torsion bar spring is connected in series with the front and rear links on both sides via a rocker arm to control the roll motion of the vehicle. The roll motion is decoupled by the two-degree-of-freedom motion of the rocker arms on both sides. By changing the arm length ratio λ = IH / JH of the rocker arm, the position change of the connection point D can be adapted to accommodate vehicle structure optimization and parameter adjustment, thereby facilitating the installation of various components.

[0032] for Figure 7 In the schematic diagram of the vehicle roll drive control device projected onto the mid-vertical plane of the vehicle body, V represents the forward speed and direction of the vehicle, and the roll motor (17) is fixedly mounted on the vehicle body (10) via a reducer (18). The rotation axis L is located in the mid-vertical plane of the vehicle body and has an inclination angle θ>0 with the horizontal plane of the vehicle body. Under the premise of lowering the center of gravity of the vehicle, a certain departure angle is maintained.

[0033] Figure 8 The active tilt positronic tricycle shown in the figure comprises: a set of rear-mounted vehicle roll drive control devices, a single front-mounted wheel on the same vehicle body according to a given wheelbase, sharing the same mid-vertical plane of the vehicle body, front-wheel steering, dual rear-wheel hub motor drive, front and rear tires using motorcycle tires with arc-shaped cross-sections in accordance with GB 518-2007, a vehicle roll drive control device driving and controlling the vehicle's roll motion, front-wheel steering and adaptively rolling together with the vehicle body, forming an active tilt positronic tricycle with dual rear-wheel drive and front-wheel steering characteristics, and having the characteristics of good vehicle safety and comfort.

Claims

1. A vehicle roll drive control device, 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 middle part of the rocker arm is rotatably connected to the upper swing arm. The rocker arm rotates relative to the upper swing arm, and the rocker arm and the upper swing arm revolve relative to the vehicle body together. One end of the front link is rotatably connected to the lower swing arm, and the other end is rotatably connected to the front end of the rocker arm. The rotation axes at each rotation connection point are perpendicular to the mid-vertical plane of the vehicle body, forming a set of wheel positioning mechanisms. Two identical wheel alignment mechanisms are arranged symmetrically on the left and right sides of the vehicle body according to a given wheelbase and share the same vehicle body. The midpoint of the actuating rod is connected to the vehicle body for rotation. The rotation axis L is located in the vehicle body's middle vertical plane and has an inclination angle θ with the vehicle body's horizontal plane. The two ends of the actuating rod are connected to a pull rod by a ball hinge respectively. The other ends of the two equal-length pull rods are connected to the upper swing arm ball hinges of the left and right wheel alignment mechanisms respectively. The two connection points are symmetrical about the vehicle body's middle vertical plane. The torsion bar spring is connected to the actuating rod for rotation around its torsion axis N. The torsion axis N is perpendicular to the rotation axis L and is symmetrical to the actuating rod. The lines connecting the ball centers of the ball hinges at both ends of the dynamic rod are parallel, the two end points of the torsion bar spring are symmetrical about the median vertical plane of the vehicle body, and the two end points are respectively connected to a rear connecting rod by a ball hinge, and the other ends of the two equal-length rear connecting rods are respectively connected to the rear end ball hinges of the rocker arms in the left and right wheel alignment mechanisms, and the two connection points are symmetrical about the median vertical plane of the vehicle body. The roll motor is fixedly mounted on the vehicle body through a reducer, and the roll motor drives the actuator rod to rotate through the reducer, and the actuator rod is connected in series with the shock absorbers on both sides through a pull rod and the torsion bar spring is connected in series with the front and rear connecting rods on both sides through the rocker arms to jointly drive the vehicle roll movement.

2. The vehicle roll drive control device according to claim 1, characterized in that: The tilt motor is a permanent magnet synchronous AC motor, and the reducer is an RV reducer or a planetary gear reducer.

3. An active roll vehicle, characterized in that: include: A group of vehicle roll drive control devices as described in claim 1 are arranged at the rear, and a single wheel is arranged at the front according to a given wheelbase on the same vehicle body, sharing the same mid-vertical plane of the vehicle body, front-wheel steering, dual rear-wheel drive, the vehicle roll drive control device drives and controls the vehicle roll movement, the front wheels are steered and adaptively roll together with the vehicle body, forming an active roll vehicle with dual rear-wheel drive and front-wheel steering characteristics.

Images