The invention discloses a multi-mode switching four-wheel independent steering and driving system and a control method thereof. The multi-mode switching four-wheel independent steering and driving system comprises a sensor module, a controller module and an actuator module. The sensor module comprises nine different sensors, and the controller module comprises nine different drivers; the actuator module comprises nine different motors; the controller judges steering, switch and mode requirements according to obtained vehicle state signals and vehicle input signals such as button signals, gear signals, switch signals, brake signals, hand brake signals and steering wheel signals, selects a working mode, generates control signals and outputs the control signals to the steering motor driver, the hub motor driver and the road feeling motor driver. The linear movement amount of the steering push rod is indirectly controlled by controlling the number of turns of rotation of the steering motor, meanwhile, the rotating speed of the hub motor is controlled, the functions of normal running, in-situ rotation, transverse running and oblique running of the four-wheel independent steering and driving system are achieved, and important significance is achieved for improving application of the four-wheel independent steering and driving system in different scenes.

    本发明公开了一种多模式切换四轮独立转向和驱动系统及其控制方法,包括传感器模块、控制器模块和执行器模块;传感器模块包括九个不同的传感器,控制器模块包括九个不同的驱动器;执行器模块包括九个不同的电机;控制器通过获取的车辆自身状态信号和车辆输入信号:按钮、挡位、电门、刹车、手刹、方向盘等信号判断转向、电门、模式需求,选择工作模式产生控制信号输出给转向电机驱动器、轮毂电机驱动器和路感电机驱动器,通过控制转向电机转动圈数间接控制转向推杆的直线移动量同时控制轮毂电机的转速实现四轮独立转向和驱动系统的正常行驶、原地自转、横向行驶、斜向行驶功能,对于提升四轮独立转向和驱动系统在不同场景下的应用具有重要意义。


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    Title :

    Multi-mode switching four-wheel independent steering and driving system and control method thereof


    Additional title:

    一种多模式切换四轮独立转向和驱动系统及其控制方法


    Contributors:
    CHEN QI (author) / DING PENGFEI (author) / ZHANG CHAO (author) / YANG SHANCHUN (author) / ZHANG DAOCHENG (author) / LI JIN (author) / XIA TONGLIANG (author)

    Publication date :

    2024-06-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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