A left and right wheel independent steering redundancy control structure disclosed by the present invention comprises a control unit, a driving unit and a redundancy control assembly, the driving unit comprises a first motor control assembly and a second motor control assembly, one side of the first motor control assembly is provided with a first pull rod structure, and the other side of the first motor control assembly is provided with a second pull rod structure; a first rack lead screw structure is arranged between the first motor control assembly and the redundancy control assembly, a second rack lead screw structure is arranged between the redundancy control assembly and the second motor control assembly, and a second pull rod structure is arranged on one side of the second motor control assembly. The first rack lead screw structure is directly and fixedly connected with the first pull rod structure, and the second rack lead screw structure is directly and fixedly connected with the second pull rod structure. In the steering process of the vehicle, the Ackerman principle is met to the maximum extent, the tire abrasion problem caused by the left and right wheel speeds and the steering angle is avoided, meanwhile, redundancy control is added, and the reliability and stability of the vehicle in the running process are enhanced.

    本发明公开了一种左右轮独立转向的冗余控制结构,包括控制单元、驱动单元和冗余控制组件,所述驱动单元包括第一电机控制组件与第二电机控制组件,所述第一电机控制组件一侧设置有第一拉杆结构,所述第一电机控制组件与冗余控制组件之间设置有第一齿条丝杠结构,所述冗余控制组件与第二电机控制组件之间设置有第二齿条丝杠结构,所述第二电机控制组件一侧设置有第二拉杆结构,所述第一齿条丝杠结构直接与第一拉杆结构固定连接,所述第二齿条丝杠结构直接与第二拉杆结构固定连接。本发明使车辆在转向过程中,最大限度满足阿克曼原理,避免车轮因左右轮速和转向角度原因导致轮胎磨损问题,同时增加冗余控制,增强车辆在行驶过程中的可靠性与稳定。


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    Title :

    Redundancy control method and structure for independent steering of left and right wheels


    Additional title:

    一种左右轮独立转向的冗余控制方法及结构


    Contributors:
    REN XIN (author) / LI CHENFENG (author) / LIAN CHANGPENG (author)

    Publication date :

    2024-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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