阅读说明：本技术 一种边三轮摩托车边轮随动转向系统及控制方法 (Side wheel follow-up steering system of side motor tricycle and control method ) 是由 傅蒙 卢治江 周玉琴 向永乐 刘泓陶 刘勋维 任柏雅 于 2019-08-15 设计创作，主要内容包括：本发明涉及一种边三轮摩托车边轮随动转向系统及其控制方法,转向系统设于边三轮摩托车主车架及边车架上,在主车架方向柱主管内设有前轮角度传感器,所述边轮轴上设有边轮角度传感器,所述主车架上还设有用于接收并处理所述前轮角度传感器及边轮角度传感器信号的控制器,所述边摇臂上设有转向电机,所述边摇臂上设有转向传动箱,该转向传动箱的输出轴与主销连接,所述转向电机输出轴与所述转向传动箱输入轴连接；所述前轮角度传感器、边轮角度传感器、控制器及转向电机电连接。传感器测量前轮转向角度及边轮实际角度,通过阿克曼转向曲线计算,使边轮随动转型,实时反馈控制调整边轮角度,转向平稳安全。(The invention relates to a side wheel follow-up steering system of a side motor tricycle and a control method thereof, wherein the steering system is arranged on a main frame and a side frame of the side motor tricycle, a front wheel angle sensor is arranged in a main pipe of a direction column of the main frame, a side wheel angle sensor is arranged on a side wheel shaft, a controller for receiving and processing signals of the front wheel angle sensor and the side wheel angle sensor is also arranged on the main frame, a steering motor is arranged on a side rocker arm, a steering transmission box is arranged on the side rocker arm, an output shaft of the steering transmission box is connected with a main pin, and an output shaft of the steering motor is connected with an input shaft of the steering transmission box; the front wheel angle sensor, the side wheel angle sensor, the controller and the steering motor are electrically connected. The sensor measures the steering angle of the front wheel and the actual angle of the side wheel, the side wheel is rotated along with the steering curve of the Ackerman, the angle of the side wheel is adjusted through real-time feedback control, and the steering is stable and safe.)

1. the utility model provides a limit motor tricycle limit wheel follow-up a steering system, locates on limit motor tricycle owner frame (1) and limit frame (4), limit frame (4) outside is provided with limit rocking arm (5), limit rocking arm (5) are connected with swizzle (12) through the bearing, and knuckle (11) cover is located swizzle (12) and is rotated along with it, be equipped with limit wheel axle (9) on knuckle (11), install in limit wheel (10) on limit wheel axle (9), its characterized in that: a front wheel angle sensor (2) is arranged in a main pipe of a direction column of the main frame (1), a side wheel angle sensor (6) is arranged on a side wheel shaft, a controller (3) for receiving and processing signals of the front wheel angle sensor (2) and the side wheel angle sensor (6) is further arranged on the main frame (1), a steering motor (8) is arranged on the side rocker arm (5), a steering transmission box (7) is arranged on the side rocker arm (5), an output shaft of the steering transmission box (7) is connected with a main pin (12), and an output shaft of the steering motor (8) is connected with an input shaft of the steering transmission box (7); the front wheel angle sensor (2), the side wheel angle sensor (6) and the steering motor (7) are respectively electrically connected with the controller (3).

2. A side-tricycle side-wheel follow-up steering system as claimed in claim 1, wherein: a worm gear and worm transmission mechanism is arranged in the steering transmission box (7).

3. a side-tricycle side-wheel follow-up steering system as claimed in claim 1, wherein: a bevel gear transmission mechanism is arranged in the steering transmission box (7).

4. A follow-up steering control method for a side wheel of a side three-wheeled motorcycle is characterized by comprising the following steps: the follow-up steering system according to any one of claims 1 to 3 is employed, comprising the steps of:

and step S1, initializing the controller, collecting front wheel steering signals by the front wheel angle sensor, collecting side wheel angle signals by the side wheel angle sensor, and transmitting the side wheel angle signals to the controller.

Step S2, the controller receives the front wheel steering angle, and calculates the theoretical steering angle of the side wheels according to the Ackerman steering curve, and the calculation formula is as follows:

And (3) turning to the right:

it is obtained from the formulae 1-1 and 1-2:

left steering:

from formulas 1-4 and 1-5:

In the formula:

θ front-front wheel steering angle;

Theta edge-edge wheel steering angle;

A-front and rear wheel base;

b-wheel base of side wheel and rear wheel;

C is the wheel track;

D is the distance between the main pin of the side wheel and the side wheel;

X-the vertical distance from the center of steering to a line parallel to the rear wheel passing through the center of the outboard wheel.

and step S3, calculating the rotation direction and the voltage duty ratio of the motor by adopting a PID algorithm according to the deviation between the theoretical angle and the real-time angle of the side wheel, and enabling the motor to rotate in a certain direction.

in step S4, the motor drives the side wheel to rotate in a certain direction.

In step S5, when the side wheel rotates to a predetermined angle, the controller stops the motor and further stops the side wheel, thereby realizing follow-up steering of the side wheel.

Technical Field

The invention relates to a following steering device and a following steering control system for a side wheel of a side motor tricycle.

background

the side three-wheeled motorcycle has a main frame and a side frame, and side wheels of the side three-wheeled motorcycle are arranged on the side frame through a side rocker arm and a side wheel shaft. When a motor tricycle on the driving side turns, except for speed reduction and slow turning, a driver needs to control the gravity center of a vehicle body by the inclination of the body of the driver, so that the body and the vehicle body keep relative balance and stability, the turning is stably finished, more skilled driving technology is needed, and meanwhile, the safety of the vehicle cannot be well guaranteed.

The Chinese patent application CN1290740C discloses a side wheel steering mechanism of a side motor tricycle, which is characterized in that two pull cables are symmetrically led out from a lower connecting plate of a steering column of a main frame and are connected to a steering arm on the side frame, the steering arm is connected with a steering pull rod through a ball joint, the steering pull rod is connected with a steering knuckle of a side wheel through a ball joint, when a front wheel of the main frame steers, the lower connecting plate drives the steering arm through the pull cables, and then the side wheel is pushed to steer through the steering pull rod and the steering knuckle. The side wheels are steered by using a mechanical structure, the steering angle is not precise enough, and the steering resistance is large.

disclosure of Invention

aiming at the problems, the invention provides a servo steering system and a control method for a side wheel of a side three-wheeled motorcycle, which overcome the defect of the steering capacity of the side wheel of the existing side three-wheeled motorcycle, enable the side wheel to have a servo steering function and better ensure the running safety of a vehicle.

In order to realize the functions, the invention adopts the following technical scheme: the utility model provides a limit motor tricycle limit wheel follow-up a steering system, locates on limit motor tricycle owner frame and the limit frame, the limit frame outside is provided with the limit rocking arm, the limit rocking arm passes through the bearing and is connected with the swizzle, and the knuckle cover is located the swizzle and rotates thereupon, be equipped with the limit wheel axle on the knuckle, the limit wheel install in on the limit wheel axle, its characterized in that: a front wheel angle sensor is arranged in the main pipe of the direction column of the main frame, a side wheel angle sensor is arranged on the side wheel shaft, a controller for receiving and processing signals of the front wheel angle sensor and the side wheel angle sensor is also arranged on the main frame, a steering motor is arranged on the side rocker arm, a steering transmission box is arranged on the side rocker arm, an output shaft of the steering transmission box is connected with a main pin, and an output shaft of the steering motor is connected with an input shaft of the steering transmission box; the front wheel angle sensor, the side wheel angle sensor and the steering motor are electrically connected with the controller respectively.

Furthermore, a worm gear transmission mechanism is arranged in the steering transmission box.

Furthermore, a bevel gear transmission mechanism is arranged in the steering transmission box.

further, a follow-up steering control method for a side wheel of a motor tricycle, which employs the follow-up steering system of any one of claims 1 to 3, comprising the steps of:

and step S1, initializing the controller, collecting front wheel steering signals by the front wheel angle sensor, collecting side wheel angle signals by the side wheel angle sensor, and transmitting the side wheel angle signals to the controller.

step S2, the controller receives the front wheel steering angle, and calculates the theoretical steering angle of the side wheels according to the Ackerman steering curve, and the calculation formula is as follows:

and (3) turning to the right:

It is obtained from the formulae 1-1 and 1-2:

Left steering:

from formulas 1-4 and 1-5:

In the formula:

θ front-front wheel steering angle;

theta edge-edge wheel steering angle;

a-front and rear wheel base;

B-wheel base of side wheel and rear wheel;

C is the wheel track;

D is the distance between the main pin of the side wheel and the side wheel;

X-the vertical distance from the center of steering to a line parallel to the rear wheel passing through the center of the outboard wheel.

And step S3, calculating the rotation direction and the voltage duty ratio of the motor by adopting a PID algorithm according to the deviation between the theoretical angle and the real-time angle of the side wheel, and enabling the motor to rotate in a certain direction.

in step S4, the motor drives the side wheel to rotate in a certain direction.

In step S5, when the side wheel rotates to a predetermined angle, the controller stops the motor and further stops the side wheel, thereby realizing follow-up steering of the side wheel.

In conclusion, the invention has reasonable structure and simple principle, and realizes the follow-up steering of the side wheels through simple sensors, controllers and power devices.

Drawings

FIG. 1 is a schematic structural diagram of a main frame of a side-wheel follow-up steering system of a side-three-wheeled motorcycle.

FIG. 2 is a schematic view of a side frame structure of a side-wheel follow-up steering system of a side-tricycle motorcycle

FIG. 3 is a flow chart of the control of the servo steering system of the side wheel of the motor tricycle.

Fig. 4 is a schematic diagram of the calculation of the steering angle of the side wheels in the case of right steering.

Fig. 5 is a schematic diagram of the calculation of the steering angle of the side wheels in the case of left steering.

Detailed Description

the present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.

A kind of side tricycle side wheel follow-up steering system as shown in fig. 1 to 5, locate on side tricycle main frame 1 and side frame 4, the said side frame 4 outside is equipped with the side rocker arm 5, the said side rocker arm 5 is connected with the king pin 12 through the bearing, the knuckle 11 is located on the king pin 12 and rotated with it, there are side wheel axles 9 on the said knuckle 11, the side wheel 10 is installed on said side wheel axle 9, characterized by that: a front wheel angle sensor 2 is arranged in a main pipe of a direction column of the main frame 1, a side wheel angle sensor 6 is arranged on a side wheel shaft, a controller 3 for receiving and processing signals of the front wheel angle sensor 2 and the side wheel angle sensor 6 is further arranged on the main frame 1, a steering motor 8 is arranged on the side rocker arm 5, a steering transmission box 7 is arranged on the side rocker arm 5, an output shaft of the steering transmission box 7 is connected with a main pin 12, and an output shaft of the steering motor 8 is connected with an input shaft of the steering transmission box 7; the front wheel angle sensor 2, the side wheel angle sensor 6 and the steering motor 7 are respectively electrically connected with the controller 3.

Furthermore, a worm gear transmission mechanism is arranged in the steering transmission box 7.

Furthermore, a bevel gear transmission mechanism is arranged in the steering transmission box 7.

further, a follow-up steering control method for a side wheel of a motor tricycle, which employs the follow-up steering system of any one of claims 1 to 3, comprising the steps of:

And step S1, initializing the controller, collecting front wheel steering signals by the front wheel angle sensor, collecting side wheel angle signals by the side wheel angle sensor, and transmitting the side wheel angle signals to the controller.

Step S2, the controller receives the front wheel steering angle, and calculates the theoretical steering angle of the side wheels according to the Ackerman steering curve, and the calculation formula is as follows:

And (3) turning to the right:

It is obtained from the formulae 1-1 and 1-2:

Left steering:

from formulas 1-4 and 1-5:

in the formula:

θ front-front wheel steering angle;

theta edge-edge wheel steering angle;

A-front and rear wheel base;

B-wheel base of side wheel and rear wheel;

c is the wheel track;

D is the distance between the main pin of the side wheel and the side wheel;

x-the vertical distance from the steering center O to a line parallel to the rear wheel passing through the center of the outboard wheel.

and step S3, calculating the rotation direction and the voltage duty ratio of the motor by adopting a PID algorithm according to the deviation between the theoretical angle and the real-time angle of the side wheel, and enabling the motor to rotate in a certain direction.

In step S4, the motor drives the side wheel to rotate in a certain direction.

In step S5, when the side wheel rotates to a predetermined angle, the controller stops the motor and further stops the side wheel, thereby realizing follow-up steering of the side wheel.

a worm gear mechanism is arranged in the steering transmission box 6, and is used for converting the power of the driving motor 7 into the direction and transmitting the direction to the main pin 9. The steering transmission box 6 can also realize power conversion and transmission by using a bevel gear transmission mechanism.

When the front wheel of the main vehicle rotates, the angle sensor 2 detects the rotating angle of the direction column and transmits the angle signal to the controller 3, after the controller 3 receives the signal, the controller sends a rotating angle instruction signal to the driving steering motor 7 through calculation, the driving motor 7 rotates after receiving the signal, and the transmission case 6 drives the steering knuckle 8 to rotate, so that the side wheel is steered. The three wheels can rotate around the same instantaneous steering center in the Ackerman steering curve range through the PID algorithm and logic control of the controller 3.

According to another embodiment of the invention, a 3D model of the side tricycle can be made, the 3D model is utilized to simulate the corresponding angles of the side wheels when the front wheels are steered according to the Ackerman steering principle, and the angles are respectively recorded into a table according to left and right steering in a one-to-one correspondence mode, as shown in table 1, when the three-dimensional tricycle is actually used, the controller checks the table according to the steering angles of the front wheels to obtain the steering angles of the side wheels, and the steering angles of the side wheels are called to control the steering of the side wheels.

TABLE 1 parameter table for steering angle of side wheel

serial number	Front wheel steering degree	left steering of side wheels by degree	Right steering angle of side wheels
				1	1	xxx	xxx
2	2	xxx	xxx
				…	…	…	…
39	39	xxx	xxx
				40	40	xxx	xxx

the technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the present description should not be construed as a limitation to the present invention.