The invention discloses a steering engine dual-redundancy control structure which is provided with a right steering engine driving motor and a left steering engine driving motor which are mechanically connected with wheels on two front half shafts through a right steering engine gear and rack mechanism and a left steering engine gear and rack mechanism respectively. The control structure is provided with a right steering engine driving motor and a left steering engine driving motor; the steering system controller is respectively connected with the right steering engine driving motor and the left steering engine driving motor through a control circuit; according to the technical scheme, two sets of independent steering mechanisms are adopted to respectively control one steering wheel, so that when one system breaks down, the other set of system can ensure that the wheels safely pull over, and the safety of a driver and a vehicle is ensured; in the normal driving process, in the automatic driving mode, the steering system can achieve the purpose that the inner side wheels and the outer side wheels obtain the optimal steering angle according to calculation, the optimal Ackerman rate is achieved, and steering is more sensitive and more accurate to control.
本发明公开了一种转向机双冗余控制结构,设置右转向机驱动电机、左转向机驱动电机,并分别通过右转向机齿轮齿条机构和左转向机齿轮齿条机构分别与两个前半轴上的车轮机械连接;控制结构设置右转向机驱动电机、左转向机驱动电机;转向系统控制器通过控制电路分别与右转向机驱动电机、左转向机驱动电机连接;采用上述技术方案,采用两套独立的转向机构,分别控制一个转向车轮,进而实现:在一个系统故障时,另一套系统可以保证车轮安全靠边停车,保证驾驶员和车辆安全;当正常行驶时,自动驾驶模式下,转向系统可以实现内外侧车轮根据计算得出最优的转角,实现最优的阿克曼率,使转向更灵敏和准确控制。
Dual-redundancy control structure of steering engine
一种转向机双冗余控制结构
2022-09-06
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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