60 results about "Active steering" patented technology

The invention provides a unified electric control method and device for turning and shimmy damping of a front wheel of an airplane, and solves the technical problems of high complexity and poor adaptability. The device comprises a voltage sensor used for collecting a bus voltage value of a DC power supply loop of an inverter; the power switch device is used for controlling the switch-in and switch-out of the energy consumption resistor R1 in the power supply loop; the relay is used for controlling the on-off of a power supply loop between the direct-current power supply and the inverter; and the logic control module is used for responding to a control requirement, outputting a PWM signal according to a preset control strategy of the corresponding control mode and performing power supply loop control. A turning / shimmy damping unified electric control framework based on electric control is formed to be matched with a unified electric control strategy, a hydraulic shimmy damping device is simplified, and meanwhile the weight and cost of an undercarriage are reduced. Through control mode switching, a PWM technology is adopted to drive the front wheel to actively steer in a control state, and shimmy damping is provided in a non-control state.

A modal antenna assembly is provided. The modal antenna includes an antenna element comprising a curved conical portion and a top portion, the top portion comprising an undulating annular ring disposed on the curved conical portion. The modal antenna further includes a parasitic element positioned at least partially within a gap defined in the curved conical portion of the antenna element.

The application relates to an indoor intelligent fire extinguishing robot and a chassis control method, which comprise a running system, a power supply system, a fire extinguishing system, a visual control system and a central controller; the running system is used for advancing, retreating and differential steering of the fire extinguishing robot; the power supply system is used for supplying power to the running system, the fire extinguishing system and the visual control system; the fire extinguishing system is used for extinguishing a fire source area; the visual control system is used for judging whether an obstacle can be normally passed when the robot runs, and if the obstacle cannot be normally passed, the local path needs to be re-planned to run to the fire disaster area, and the visual control system is used for identifying a fire source so that a fire extinguisher can be accurately sprayed to the fire source part; and the central controller is used for controlling the running system, the power supply system, the fire extinguishing system and the visual control system. The application has the advantages that rear wheel active steering and front wheel steering as an auxiliary are adopted, the differential steering has a small steering radius, and good steering stability is achieved.

Apparatus and method for damping a steering movement in an active steering system of a vehicle, wherein a variable is determined which characterizes a force acting from outside the vehicle on the steering movement of the active steering system or a moment acting from outside the vehicle on the steering movement of the active steering system that has an accelerating effect on the steering movement of the steering system. The speed of the steering movement is limited as a function of the variable. Vehicle comprising said apparatus.

The invention discloses a multi-mode kingpin steering type high-integration traveling unit based on an active tie rod. The multi-mode kingpin steering type high-integration traveling unit comprises a wheel assembly, a kingpin steering system, a suspension system, an active steering tie rod system and a steering control mechanism. The high-integration driving unit can achieve various steering modes through a main pin steering motor in combination with a clutch set in an active steering tie rod system. All clutches are combined in a trapezoidal steering mode, and steering pull rods are fixedly connected into a whole; in the steering decoupling mode, mechanical constraint is disconnected, and independent steering of the left wheel and the right wheel is achieved through a main pin steering motor; the active toe-in mode improves high-speed handling stability by dynamically fine tuning wheel geometric parameters. In the safety level, the system covers a single-motor fault-tolerant mode, a fully-mechanized dual-motor fault-tolerant mode and a cross-system braking mode for generating frictional resistance by utilizing limit deflection of wheels on the two sides when a braking system fails. According to the invention, high-reliability redundancy and multi-dimensional motion control are realized, and the flexibility and safety of the vehicle are improved.

This invention discloses a hierarchical control method for vehicle lateral following based on virtual connections, relating to the field of intelligent control technology for mobile platforms. It solves the technical problem of inaccurate vehicle lateral following control methods under complex and changing traffic conditions. The key technical solution is a two-layer control system. The upper layer control is based on a vehicle lateral following model with virtual connections, introducing vehicle-to-everything (V2X) technology to improve the vehicle's environmental perception. Based on the perceived information of the surrounding environment and its own state, the vehicle adjusts the stiffness and damping parameters of the virtual connections to obtain the desired lateral acceleration that meets the vehicle's lateral following stability requirements. The lower layer control establishes a two-degree-of-freedom lateral model of the vehicle with front wheel sideslip angle and yaw rate as state variables, and designs a decoupled control strategy based on front wheel active steering. This achieves decoupling of lateral motion from longitudinal and yaw motions, enabling tracking of the desired lateral acceleration under different vehicle speeds.

The application relates to a steering semi-automatic control method and device for a telescopic forklift truck, wherein a front wheel steering mode, an all-wheel steering mode and a crab steering mode are preset, and an independent rear wheel steering mode is not set. The method comprises the following steps: receiving a target mode instruction; judging whether the target mode instruction is consistent with a current mode; when the target mode instruction is not consistent with the current mode, switching to a transition mode capable of driving the rear axle to actively steer first, and then performing a rear axle centering correction; switching to a front wheel mode capable of driving the front axle to actively steer; and automatically switching to the target mode after the switching is completed. The scheme simplifies operation, improves efficiency, eliminates safety hazards from the architecture, and reduces cost and failure rate.

Steerable endoscopes are provided with active steering control. The endoscope includes a flexible tubular body having a first articulating segment and a second articulating segment and a camera. In embodiments, the endoscope includes a direction sensor. A controller for the endoscope automatically analyzes the alignment between the motion axis of the endoscope and the viewing axis of the camera and actively steers the endoscope to improve the alignment.

The invention relates to the technical field of intelligent driving, and particularly discloses an active deviation correction method for avoiding collision of a VRU in an intersection scene, and the method comprises the steps: sensing a shielded VRU through the fusion of V2X communication and a vehicle-mounted sensor, and predicting a collision risk; when the collision risk exceeds a threshold value, a safe area is determined in the intersection range, and a transverse collision avoidance path is planned; through transverse and longitudinal cooperative control, the vehicle is driven to execute active steering and deceleration along the transverse collision avoidance path so as to bypass the VRU; and in the process of executing active steering and deceleration, early warning is given to a driver through a man-machine interface, and the vehicle control right is transferred when reverse intervention of the driver is detected. According to the method, through organic combination of key points such as predictive perception, intelligent decision making, accurate execution and man-machine co-driving, collision can be more effectively avoided in a limit ghost probe scene, and remarkable progress is made in decision making dimension and man-machine interaction friendliness.

The application discloses a kind of commercial vehicle multifunctional double motor coupling active steering system and its control method, comprising: the angle of collection vehicle steering wheel, torque signal;According to the signal calculated, vehicle stability margin is calculated, and the state of electromagnetic actuator is determined;Limiting the transmission ratio required under working condition is calculated;The angle value required by auxiliary motor is calculated, and control signal is sent to auxiliary motor;The assist torque value required by main motor is calculated, and control signal is sent to main motor;The torque distribution value of auxiliary motor and main motor under ordinary working condition is calculated, and is sent to auxiliary motor and main motor respectively;Output corresponding torque or angle, complete vehicle steering.The application can improve the lightness of steering at low speed under ordinary working condition by double motor assist coupling;Under limiting working condition, main motor is assisted alone, and auxiliary motor is compensated to driver steering angle by double-row planetary gear module, can realize stepless variable transmission ratio, realizes active rollover control.

The invention belongs to the technical field of vehicle dynamics control and drive-by-wire chassis, and particularly relates to a vehicle rear wheel active steering control system and method based on single motor driving and differential braking. The control system comprises a sensing module, a control unit and an execution mechanism; the sensing module and the executing mechanism are in electric signal connection with the control unit; the sensing module comprises a steering wheel angle sensor and a vehicle state sensor; the control unit comprises a vehicle dynamics controller, and the vehicle dynamics controller comprises a vehicle motion controller and a coordination distributor; and the executing mechanism comprises a rear axle driving motor and a controller thereof. According to the technical scheme, motor driving and braking are stacked into a unified rear wheel steering force generation unit, a layered coordination control strategy is formed, a whole set of mechanical execution mechanism needed by rear wheel steering is omitted, and only an existing driving motor and an existing braking system of the vehicle are utilized. Through a control strategy, multiple modes that the steering angle of the rear wheel changes along with the vehicle speed are easily achieved, and mode switching is seamless and smooth.

The invention discloses a lane assistance system optimization method and a related device, and the method comprises the steps: obtaining the state data of a driver of a vehicle, and obtaining the state confidence level of a target state corresponding to the state data according to the state data; and obtaining the probability value that the driver does not turn on the steering lamp in the lane changing process in the vehicle driving process, and determining the lane changing habit grade of the driver according to the probability value. And outputting a target confidence level according to the state confidence level of the target state and / or the lane changing habit level, and determining whether to suppress a lane keeping function and a lane departure alarm function of the lane assistance system according to the target confidence level, by combining the target state of the vehicle driven by the driver and the probability that the steering lamp is not turned on during lane changing, whether the driver is driving intensively or not and whether active steering lane changing is performed or not can be deduced, and the intervention degree of the lane auxiliary system due to active steering lane changing of the driver is reduced. The purpose of optimizing the lane auxiliary system is achieved.

The invention discloses a new energy electric amphibious vehicle water surface roll stability control method and system based on an angle module, and the method comprises the steps: collecting a roll angle, a roll angle speed and an angular acceleration in real time, and dividing a vehicle roll motion state into an impact stage, a return stage, an oscillation stage and a stable state; the extreme value rotating speed distribution strategy, the dynamic damping rotating speed adjusting strategy and the sliding mode control strategy are adopted for different stages, the rotating speed difference of left and right wheels is converted into the lift force difference through the positive camber angles of the wheels, and anti-roll restoring torque is actively generated. Meanwhile, the yaw disturbance torque caused by the rotating speed difference is calculated in real time, the specific wheel steering angle is adjusted through active steering control, the horizontal component of the fluid thrust vector is changed to offset the disturbance torque, and dynamic decoupling of roll control and course keeping is achieved. According to the invention, active roll stability control is realized when the amphibious vehicle sails on the water surface, and the anti-overturning capability, the attitude convergence smoothness and the course stability are effectively improved.

The invention discloses a rear wheel active steering control method, system and device and a storage medium, and relates to the field of vehicle steering. The method comprises the steps that the rotation speed of a steering wheel is obtained under the condition that the vehicle speed is not smaller than a preset vehicle speed threshold value, and the rotation speed of the steering wheel is obtained under the condition that the rotation speed is larger than a preset rotation speed threshold value; and determining the rotation direction of the rear wheel as the direction opposite to the rotation direction of the front wheel under the condition that the rotation speed is greater than a preset rotation speed threshold value, determining the rotation direction of the rear wheel as the direction the same as the rotation direction of the front wheel under the condition that the rotation speed is not greater than the preset rotation speed threshold value, and performing active steering control of the rear wheel at least based on the rotation direction and the vehicle speed. The driving intention of a driver is recognized on the basis of comparison of the rotation speed of the steering wheel and the preset rotation speed threshold value, active steering control over the rear wheels is conducted at least on the basis of the rotation direction and the vehicle speed, and flexible control over active steering of the rear wheels under different driving intentions is achieved.

This application provides a lawnmower robot and lawn cleaning equipment, relating to the field of garden machinery technology. In this lawnmower robot, among a plurality of moving devices arranged along a first direction, at least one moving device includes a suspension and a plurality of moving mechanisms arranged along a second direction. The suspension is fixedly connected to the body. Each moving mechanism includes a rotating wheel, a steering shaft, and a first driver. The steering shaft is connected to the rotating wheel, and the first axis of the steering shaft is perpendicular to the second axis of the rotating wheel. The first driver is located on the suspension and connected to the steering shaft. Thus, when the lawnmower robot is used, the first driver drives the steering shaft to rotate around the first axis, thereby causing the rotating wheel to rotate around the first axis, achieving independent active steering of the rotating wheel and improving its steering flexibility. Simultaneously, by making the first axis of the steering shaft parallel to a third direction, the steering shaft is positioned along the third direction, reducing the space occupied by the steering shaft and contributing to a compact design.

Method performed by a control device (100) to control a trailing axle steering system (14), the trailing axle steering system (14) is designed to actively steer the trailing axle wheels (13) of a trailing axle (12) of a vehicle (1, 1'), the procedure includes one step of: in response to an indication that the vehicle (1, 1') in which the trailing axle (12) is arranged is being or is about to be driven in reverse while the trailing axle steering system (14) is operating in a trailing steering mode: locking (S103, S206) the position of the trailing axle wheels (13) in a current steering angle of the trailing axle wheels (13).

The invention discloses a dual-channel hinged multi-shaft cooperative active steering system and an anti-rollover control method thereof. The dual-channel hinged multi-shaft cooperative active steering system comprises a symmetric dual-channel hydraulic hinged steering module, a multi-shaft independent active steering module, a vehicle running state sensing module and a vehicle stability control decision module. By designing the symmetrical double-channel hydraulic hinged steering module, the main hydraulic channel is used for normal steering control of a driver, and the auxiliary hydraulic channel is used for additional hinged angle adjustment in vehicle stability control, so that the hinged engineering vehicle has a hinged active steering function; therefore, decoupling of the vehicle steering control function and the active stability control function is achieved. According to the structure, the active stability control capacity is introduced on the premise that a basic steering mechanism of the vehicle is not changed, the structure is simple, the practicability is high, and the control stability of the hinged type engineering vehicle under the complex working condition can be remarkably improved.

The application provides a steering system, a control method thereof and a crane, the steering system comprising a return pipe, a main steering subsystem, an auxiliary steering subsystem, a power steering device and a storage tank, the power steering device comprising an outlet and an inlet, the main steering subsystem comprising a first reversing valve and a main steering pump, the outlet and the inlet being in communication with the first reversing valve, one end of the return pipe being in communication with the storage tank, the other end of the return pipe being in communication with a communication pipe between the first reversing valve and the outlet, two ends of the main steering pump being in communication with the storage tank and the first reversing valve respectively, the auxiliary steering subsystem being in communication with the storage tank and the first reversing valve respectively, in a first working state, the main steering pump is in communication with the inlet, and the auxiliary steering subsystem is in communication with the return pipe, so that the hydraulic oil in the storage tank is delivered to the power steering device through the main steering pump, in a second working state, the auxiliary steering subsystem is in communication with the inlet, so that the hydraulic oil in the storage tank is delivered to the power steering device through the auxiliary steering subsystem.

An active power-splitting differential and an automobile. The active power-splitting differential comprises a differential assembly (1), an active power-splitting assembly (2), and a reverse transmission device (3). By applying the reverse speed comparison of output shafts on two sides of the differential and controlling the speed differential value obtained by comparison, power splitting of differential output is adjusted, thereby achieving active differential output of the differential. When the active power-splitting assembly (2) is not in operation, the differential is in a normal differential state, and when the active power-splitting assembly (2) is in operation, the differential is in an active power-splitting state, thereby achieving active differential output of the differential, so as to meet the requirements of active steering, anti-slip, turning radius reduction, and turning trajectory control of the automobile. When the active power-splitting differential is applied to the front and rear axles of a four-wheel-drive vehicle, zero-radius turn of the automobile can be achieved.

The invention relates to the technical field of intelligent luggage cases, and discloses an intelligent following manned luggage case device and a control method, the intelligent following manned luggage case device comprises a luggage case body, a sensing module, a control module, a driving module, a communication and interaction module and a power supply module; the sensing module, the control module, the driving module, the communication and interaction module and the power supply module are respectively arranged on the luggage case body, and the sensing module and the driving module are respectively connected with the control module; the luggage case body comprises a chassis, a pull rod, a driving steering wheel, a universal auxiliary wheel, a driving wheel and a case body, the pull rod, the universal auxiliary wheel, the driving wheel and the case body are respectively connected to the chassis, and the driving steering wheel is connected with the pull rod. According to the luggage case, multi-sensor fusion is adopted, stable following and active obstacle avoidance can be achieved in a complex environment, and the positioning precision and the environment adaptability of the luggage case are improved.

The present invention relates to the field of buses, and specifically relates to an active rear-axle steering control system and method for a large bus, and a storage medium. A column angle sensor is provided on a steering column connected to a steering wheel, such that a vehicle control unit can control the rotation of a rear-axle steering apparatus by monitoring a steering angle of the steering wheel. Moreover, a kingpin steering angle sensor is provided on a front-axle steering apparatus, a correspondence between the steering angle of the steering wheel and a steering angle of front wheels is used as a start condition for active rear-axle steering, and when the steering angle of the steering wheel does not correspond to the steering angle of the front wheels, a rear axle is locked in a centered position, and only the front-axle steering apparatus performs steering motion. Therefore, a driver can easily perform a steering operation, thereby improving the steering safety of a vehicle.

The utility model relates to the technical field of automobile steering devices, and particularly discloses a double-steering-arm shaft type heavy truck electric recirculating ball steering device which comprises a shell, a steering screw is installed in the shell through a positioning piece, a steering nut is arranged in the shell in a sliding mode, and the steering screw is in threaded connection with the steering nut. A driving steering arm shaft and a driven steering arm shaft are rotationally connected to the shell, and the driving steering arm shaft and the driven steering arm shaft are in transmission connection with the nut. According to the double-steering-arm-shaft type heavy truck electric recirculating ball steering gear, a double-steering-arm-shaft structure is adopted, the diameter of the steering screw does not need to be increased to resist radial force, the steering nut and the steel ball can be synchronously reduced, the double-steering-arm-shaft type heavy truck electric recirculating ball steering gear only needs to use a standard angular contact ball bearing, development of a non-standard bearing does not need to be considered, and the cost is reduced. The double-steering-arm shaft type heavy truck electric recirculating ball steering gear only needs to ensure that a gap exists between the shell and the steering nut, and the machining precision requirement is low.

The present application belongs to the technical field of vehicle engineering, and relates to a kind of active steering and differential brake integrated rollover control method, comprising: constructing tractor steering and differential brake integrated dynamics model;Adopt model prediction method to establish controller;Based on road adhesion coefficient setting steering angle and brake torque constraint, the optimal control output is obtained by using quadratic programming to solve constraint optimization problem.The present application introduces the dynamic estimation of road adhesion coefficient in the constraint of front wheel steering angle and trailer yaw moment, which can effectively reduce the tire slip phenomenon caused by insufficient adhesion on low adhesion road and solve the problem that static value cannot adapt to any working condition in real time, at the same time, the model prediction method is used to set the controller, the future state of the vehicle is predicted in advance, and the driving safety is improved, the present application can effectively improve the adaptability of articulated vehicle in low adhesion coefficient road under rollover control, and the integrated method can effectively strengthen the rollover control effect.

The invention relates to the field of passenger cars, in particular to an active steering control system and method for a rear axle of a large passenger car and a storage medium. A tubular column rotation angle sensor is arranged on a steering tubular column connected with a steering wheel, and a vehicle control unit can control rotation of a rear axle steering device by monitoring the rotation angle of the steering wheel; meanwhile, a main pin rotation angle sensor is arranged on the front axle steering device, the rotation angle corresponding relation between the steering wheel and the front wheels serves as the starting condition of active steering of the rear axle, when the rotation angle relation between the steering wheel and the front wheels does not correspond, the rear axle is locked to be in the middle, and only the front axle steering device participates in steering motion; a driver can easily conduct steering operation, and the safety of vehicle steering is improved.

The invention discloses an air-ground dual-mode chassis integrated with active steering and a motion mode control method of the air-ground dual-mode chassis. The air-ground dual-mode chassis is applied to carrying equipment with air-ground dual-mode characteristics. The air-ground dual-mode chassis comprises a chassis base, an arm clutch, a wheel-wing integrated assembly and a push-pull assembly. According to the invention, an integrated wheel-wing structure and an electromagnetic clutch mechanism are adopted, so that the rotor wing-wheel structure can be shared in two motion modes of flight and ground; meanwhile, a push rod type mechanism is designed, switching of the chassis form between land and air motion modes can be achieved, the active steering function can be achieved, and steering flexibility and control precision are improved.

The utility model relates to the technical field of aircraft landing gear machining, in particular to a deep hole machining device with a chipping collecting function for an undercarriage, which comprises a main engine base, one end of the top of the main engine base is rotatably connected with a driving steering base, and the other end of the top of the main engine base is rotatably connected with a driven steering base. A moving assembly is arranged at the end, corresponding to the driven steering base, of the inner wall of the main base. According to the improved deep hole machining device, a guide plate can effectively guide chippings and cutting fluid to fall into a collecting groove, splashing around is avoided, a working area is kept clean, the chippings in the collecting groove can be cleaned by opening a panel, solid-liquid separation is achieved through a polyester filter screen filter element in the collecting groove, and a driving steering base and a driven steering base are matched with a clamping assembly; the two ends of a workpiece are fixed in four directions, balanced clamping force is provided, machining errors caused by unstable clamping are avoided, the drill bit installation base can push the lead screw and the first hydraulic oil cylinder through the hanging bracket to achieve accurate adjustment of the horizontal position and the vertical position, and drilling points are accurately aligned.

The invention discloses a high-precision rotation angle execution servo control method for an intelligent driving active steering system, and the method comprises the steps: obtaining motor drive electrical parameters of a steering execution motor according to a drive current conversion mathematical model when a steering execution assembly of the active steering system controls the rotation of steering wheels through the steering execution motor; a driving electric signal of a steering execution motor is obtained through the motor driving electric parameters, and finally the steering execution motor is driven to rotate according to the driving electric signal, so that rotation control over steering wheels is achieved. Due to the fact that the driving current conversion mathematical model used for steering control over the steering execution motor is established firstly, the steering-by-wire system for intelligent driving of the vehicle is higher in steering precision and higher in robustness.

The application relates to a K&C measurement method for a vehicle with a rear-wheel active steering system, and relates to the technical field of rear-wheel steering, which comprises the following steps: setting multiple groups of test conditions; collecting test result information of a vehicle to be tested under the multiple groups of test conditions, wherein the test result information comprises rear-wheel steering angle information of rear wheels of the vehicle and motor action information of a steering motor; analyzing to obtain a steering overall strategy, wherein the steering overall strategy comprises a control strategy of a steering controller and steering related actions of the corresponding steering motor; formulating a K&C test strategy according to the steering overall strategy, and performing testing to obtain performance index information. The application can analyze the steering overall strategy of the system according to multiple tests performed in advance when the communication protocol of the rear-wheel active steering system is unknown, can provide a basis for subsequent formulation of a K&C test strategy based on the strategy, and can realize performance index testing of the vehicle with the rear-wheel active steering system and judge the influence of the rear-wheel active steering system on the vehicle performance.

The application discloses a kind of suitable for semi-trailer anti-folding cooperative control system;The suitable for semi-trailer anti-folding cooperative control system includes anti-folding prediction module, anti-folding decision module, anti-folding control module, anti-folding cooperative execution module;Through the determination of the driving environment and the state of vehicle itself, the planning of control strategy, the cooperative control of driving, differential braking, active steering is reasonably and effectively carried out;Solve the problem that semi-trailer is out of control due to its high gravity center, large mass, obvious rear amplification effect, prone to severe shimmy under some external force interference or improper operation of driver, resulting in folding and other adverse conditions.The application aims to solve the problem of semi-trailer instability folding by cooperative control of driving, braking and steering mode, and improve the stability of semi-trailer driving.