CN203094053U - Tour train four-wheel turning stability control system - Google Patents
Tour train four-wheel turning stability control system Download PDFInfo
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- CN203094053U CN203094053U CN201220685904.9U CN201220685904U CN203094053U CN 203094053 U CN203094053 U CN 203094053U CN 201220685904 U CN201220685904 U CN 201220685904U CN 203094053 U CN203094053 U CN 203094053U
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- car body
- car
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model discloses a tour train four-wheel turning stability control system comprising a car slip angle measuring equipment (10), a car turning angle speed deviation measuring equipment (3) and an electronic control unit (4). The car slip angle measuring equipment (10) is used for detecting car slip angles namely deflection angles between the speed direction at the mass center of a tour train and an opposite vertical axis of the tour train in real time, the car turning angle speed deviation measuring equipment (3) is used for detecting car turning angle speed deviation between real car turning angle speed and turning angle speed given by drivers in real time, and the electronic control unit (4) is used for controlling a rear-wheel turning angle controller (5) and a brake wheel judging and braking torque allocating controller (14) by responding to signals outputted by the car slip angle measuring equipment (10) and the car turning angle speed deviation measuring equipment (3) in real time. Compared with the prior art, the tour train four-wheel turning stability control system is reasonable in structure and convenient to operate, can effectively improve driving stability of the tour train under extreme or dangerous working condition, and safety of the tour train turning directions by a large angle on a smooth road surface at high speed is improved.
Description
Technical field
The utility model relates to motor turning and braking Comprehensive Control Technology field, particularly a kind of tourist train four-wheel steering stabilitrak.
Background technology
Along with the develop rapidly of China's tourist industry, resident's ratio of going on a tour improves day by day.The tourist attraction of various places generally uses electronic tourist train as public transport means in the scenic spot, to make things convenient for playing of visitor.Be subjected to the restriction of natural conditions, the road in the scenic spot is narrow usually, whenever Holiday stream of people's wagon flow compile, make that originally not wide road surface is more crowded.
The reason that causes the vehicle unstability mainly contains the following aspects: 1) since car vertically and the lateral acceleration forward and backward axle and the left and right side load transfer that cause, vehicle is become by understeer turn to too much, thereby the initiation unstability; 2) response of the rotational angular velocity of car often lags behind the manipulation of chaufeur to bearing circle, when car carries out urgent lane change, because this hysteresis can make vehicle produce bigger yaw moment when turning to, can cause bigger body slip angle after effect a period of time, thereby under bigger body slip angle, chaufeur often is difficult to maneuver vehicle and causes unstability; Cause that easily the change of very big attitude takes place car when 3) vehicle tyre is on the road surface of different coefficients of friction (separation road surface) respectively; In addition, uneven road surface also can cause interference such as the interference of vehicle and side direction wind and the change of car attitude when the body slip angle that causes because of this change is very big, just may make the automobile unstability; 4) when chaufeur in case of emergency because flurried and misoperation reaches capacity side force of tire, at this moment car can produce very big body slip angle, makes chaufeur come maneuver vehicle by further adjustment, causes unstability.
The utility model content
The purpose of this utility model is that a kind of tourist train four-wheel steering stabilitrak will be provided, it is rational in infrastructure and use easy and simple to handle, can effectively improve the riding stability of automobile under the limit or dangerous operating mode, improve the safety of tourist train when the at a high speed big corner of smooth road turns to.
For achieving the above object, the utility model is implemented according to following technical scheme:
A kind of tourist train four-wheel steering stabilitrak, comprise the body slip angle measurement mechanism, car body rotational angular velocity deviation measurement mechanism, tackle trailing wheel rotary corner controller and brake wheel is judged and the lock torque dispensing controller is controlled electronic control unit mutually according to body slip angle measurement mechanism and the real-time institute of car body rotational angular velocity deviation measurement mechanism output signal, described brake wheel is judged and the lock torque dispensing controller is controlled the car side brake of four wheels respectively.
As preferably, described body slip angle measurement mechanism comprises the longitudinal velocity sensor that in real time the car body longitudinal velocity is detected, the side velocity sensor that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller that calculates described body slip angle with side velocity sensor institute detection signal of longitudinal velocity sensor.
As preferably, described car body rotational angular velocity deviation measurement mechanism comprises the steering wheel angle sensor that in real time steering wheel angle is detected, the car body rotational angular velocity sensor that in real time the car body rotational angular velocity is detected, the car body rotational angular velocity deviation control device of car body rotational angular velocity deviation; Described car body rotational angular velocity sensor is installed in the car body barycenter.
As preferably, described electronic control unit comprises that vehicle stability is carried out vehicle stability decision-making function module institute output signal that real-time analysis judges tackles trailing wheel rotary corner controller and brake wheel is judged and the lock torque dispensing controller is controlled fuzzy control functional module mutually; Described vehicle stability decision-making function module is tackling the fuzzy control functional module mutually with car body rotational angular velocity deviation measurement mechanism institute output signal and control according to the body slip angle measurement mechanism.
The utility model is rational in infrastructure and use easy and simple to handlely, can effectively improve the riding stability of tourist train under the limit or dangerous operating mode, improves the safety of tourist train when the at a high speed big corner of smooth road turns to.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is further described, is used for explaining the utility model in the illustrative examples and the explanation of this utility model, but not as to qualification of the present utility model.
With reference to Fig. 1, a kind of tourist train four-wheel steering stabilitrak, comprise that in real time be the body slip angle measurement mechanism 10 that body slip angle detects to car body barycenter place velocity reversal with respect to the deflection angle of car body longitudinal axis, the real-time car body rotational angular velocity deviation measurement mechanism 3 that the car body rotational angular velocity deviation between car body actual rotation cireular frequency and the given rotational angular velocity of chaufeur is detected, and tackle the electronic control unit 4 that trailing wheel rotary corner controller 5 and brake wheel judgement and lock torque dispensing controller 14 are controlled mutually according to body slip angle measurement mechanism 10 and car body rotational angular velocity deviation measurement mechanism 3 real-time institute output signals.
Wherein, brake wheel is judged and lock torque dispensing controller 14 is according to 4 output signals of electronic control unit, and whether judgement needs the left side of four-wheel steering automobile or right side wheels is braked and the controller of the lock torque of corresponding concrete distribution need brake side front and back wheel.Described brake wheel is judged and lock torque dispensing controller 14 is controlled the car side brake 6 of four wheels respectively.
Further, body slip angle measurement mechanism 10 comprises the longitudinal velocity sensor 11 that in real time the car body longitudinal velocity is detected, the side velocity sensor 9 that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller 12 that calculates described body slip angle with 9 detection signals of side velocity sensor of longitudinal velocity sensor 11.
Car body rotational angular velocity deviation measurement mechanism 3 comprises the steering wheel angle sensor 1 that in real time steering wheel angle is detected, the car body rotational angular velocity sensor 2 that in real time the car body rotational angular velocity is detected, the car body rotational angular velocity deviation control device 13 of car body rotational angular velocity deviation; Wherein, the car body rotational angular velocity is meant that car body walks around car body barycenter vertical axis rotational angular.Described car body rotational angular velocity sensor 2 is installed in the car body barycenter.
Electronic control unit 4 comprises the vehicle stability decision-making function module 8 of vehicle stability being carried out the real-time analysis judgement, and tackles the fuzzy control functional module 7 that trailing wheel rotary corner controller 5 and brake wheel judgement and lock torque dispensing controller 14 are controlled mutually according to 8 output signals of vehicle stability decision-making function module.Described vehicle stability decision-making function module 8 is controlled for tackling fuzzy control functional module 7 mutually according to 3 output signals of body slip angle measurement mechanism 10 and car body rotational angular velocity deviation measurement mechanism.
The utility model is rational in infrastructure and use easy and simple to handlely, can effectively improve the riding stability of tourist train under the limit or dangerous operating mode, improves the safety of tourist train when the at a high speed big corner of smooth road turns to.
More than show and described groundwork of the present utility model and principal character and advantage of the present utility model.The technical personnel of the industry should be understood; the utility model is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present utility model; under the prerequisite that does not break away from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (3)
1. tourist train four-wheel steering stabilitrak, it is characterized in that: comprise body slip angle measurement mechanism (10), car body rotational angular velocity deviation measurement mechanism (3), according to body slip angle measurement mechanism (10) and car body rotational angular velocity deviation measurement mechanism (3) in real time institute's output signal tackle trailing wheel rotary corner controller (5) and brake wheel is judged and lock torque dispensing controller (14) is controlled electronic control unit (4) mutually, described brake wheel judgement and lock torque dispensing controller (14) are controlled the car side brake (6) of four wheels respectively.
2. tourist train four-wheel steering stabilitrak according to claim 1, it is characterized in that: described body slip angle measurement mechanism (10) comprises the longitudinal velocity sensor (11) that in real time the car body longitudinal velocity is detected, the side velocity sensor (9) that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller (12) that calculates described body slip angle with side velocity sensor (9) institute detection signal of longitudinal velocity sensor (11).
3. tourist train four-wheel steering stabilitrak according to claim 1 is characterized in that: described car body rotational angular velocity deviation measurement mechanism (3) comprises the steering wheel angle sensor (1) that in real time steering wheel angle is detected, the car body rotational angular velocity sensor (2) that in real time the car body rotational angular velocity is detected, the car body rotational angular velocity deviation control device (13) of car body rotational angular velocity deviation; Described car body rotational angular velocity sensor (2) is installed in the car body barycenter.
4. tourist train four-wheel steering stabilitrak according to claim 1 is characterized in that: described electronic control unit (4) comprises that vehicle stability is carried out vehicle stability decision-making function module (8) the institute output signal that real-time analysis judges tackles the fuzzy control functional module (7) that trailing wheel rotary corner controller (5) and brake wheel judgement and lock torque dispensing controller (14) are controlled mutually; Described vehicle stability decision-making function module (8) is tackling fuzzy control functional module (7) mutually with car body rotational angular velocity deviation measurement mechanism (3) institute output signal and control according to body slip angle measurement mechanism (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220685904.9U CN203094053U (en) | 2012-12-13 | 2012-12-13 | Tour train four-wheel turning stability control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220685904.9U CN203094053U (en) | 2012-12-13 | 2012-12-13 | Tour train four-wheel turning stability control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203094053U true CN203094053U (en) | 2013-07-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220685904.9U Expired - Fee Related CN203094053U (en) | 2012-12-13 | 2012-12-13 | Tour train four-wheel turning stability control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203094053U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707884A (en) * | 2013-12-26 | 2014-04-09 | 广东工业大学 | Racing car stability control device and control method |
| CN109823373A (en) * | 2019-01-15 | 2019-05-31 | 重庆艾博瑞威轨道交通设备有限公司 | Tourist train operation monitoring and emergency braking system |
-
2012
- 2012-12-13 CN CN201220685904.9U patent/CN203094053U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707884A (en) * | 2013-12-26 | 2014-04-09 | 广东工业大学 | Racing car stability control device and control method |
| CN109823373A (en) * | 2019-01-15 | 2019-05-31 | 重庆艾博瑞威轨道交通设备有限公司 | Tourist train operation monitoring and emergency braking system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Brother Electric Train Co., Ltd. Document name: Notification to Pay the Fees |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20151213 |
|
| EXPY | Termination of patent right or utility model |