SU738927A1 - Method of controlling vehicle all-steering wheels - Google Patents

Description

(54) METHOD FOR MANAGING A VEHICLE WITH ALL MANAGED WHEELS

  . IEEB retention refers to berel-{-sow transport, namely, to chassis control methods.

A known method of controlling a vehicle with all the controllable wheels is such that the wheels turn to intersect their axes of rotation at one point {Ij.

The disadvantage of this method is that during its movement its trajectories and the angular position are not closely related to certain laws, i.e. during movement, the chassis is almost stationary relative to the tangent to the path of the portable movement and does not allow to accurately establish the chassis relative to the place of loading, unloading, parking, etc., especially when the access roads have .O11 sharpened width.

The aim of the invention is to reduce the maneuvering time by combining the transversal movement and the relative rotation of the chassis.

This goal is achieved by the fact that the wheels additionally turn the JDT by an angle equal to the sum of the current

, the angle of rotation of the chassis in the direction opposite to the IHOM and the current value of the angle formed by the center, connect to the point of intersection of the point of intersection of the axes of rotation of the wheels with the axis of rotation of the wheel in the initial and current positions.

Figures 1 and 2 depict the rotation patterns of the vehicle when the wheels turn to cross the 10 axes of their rotation at one point, illustrating the proposed method. ,

On fig.Z and 4 shows the scheme

15 turning the chassis in a portable translational and portable rotational movement.

FIG. Figures 5 and 6 show the chassis maneuvers with separate control of the rectilinear and curvilinear portable translational and relative gravitational movement of the chassis.

It is known from theory that the control of the E25 my wheel 1, when maneuvering, rotates relative to the chassis 2 by an angle

Ki

AND

Bj arctg

Claims (2)

R-e / e distance from earlier {1л6Л .-, ... j.a Vvu: -Mi, where Kj ToiKH p2 is our pump 2 to the direct connecting axis of rotation; wheels 1 (figure 1 - radius of rotation;, - kOle;.; - fixed coordinates; X.O., U. - moving coordinates in which O, X coincides with the direction of the transference Motion .. - coordinates, rigidly cKpe lunar with chassis 2. Since K; D) S0507, where G | - distance from the calculated distance Og to the axis of rotation number, ec; a 1; -: -, .-. /, b- - the corner between the reference O. (longitudinal axis of the transdorTal) and the segment g | a f) When used as a portable curvilinear motion (see Fig. 3), each wheel (for example, will turn synchronously and in phase in the direction of the portable motion by the same angle: speed, where is the speed of the forward movement of the chassis, K "p & DyUs bc BtipuTa transferr -) Movement T ... p - ANGLE between the direction of the first movement |. . ССС.O.H. . .. g. .. one:-....; ...... If, when a linear motion is received, rotate each movement: a shaft from 6 according to a given radius and expression. (D) The chassis TR will move to a curvilinear trajectory and rotate relative to the fixed coordinates by an angle l, equal (see Fig. . four) ; , . ... with efficiency (equal If, moreover, each wheel is additionally rotated in the opposite direction by an angle (L of chassis rotation and angle D), formed directly, (Connecting the point ffep ee to the axes of rotation of the wheels the axle of the BOpota. wheels in; the initial and yoMen x, then the angle of the turn of the forest relative to the chassis will be wounds (.З) J; V-h V. .. V., B.-L-D1,. (T) e1 is determined From the triangle- .AOB, --apctg.. - pZt9 (-G (C {) 8 (() AirOPClg pcpse. -G sin (5; + (A-Oj) i de p) - the radius of instantaneous rotation, the distance between the calculated point O and the intersection point of the axles of rotation of the wheels, i.e. in this The radius of rotation R turns into the instantaneous radius of the p.SinOj-PSO8 p. (in (). -A-arclg--. (Q-) pС05в |.-Г (51П (б | о-в;)) the wheel turning angle with respect to the chassis with a straight forward swift forward motion avins: r31pM 1 ° 5 1 .cgrctg - Г-О07 pcdsM-ns ®} in this case, the calculated point iiiac and Og will move straight, the chassis itself will perform a rotational movement around this point V with speed When the required angular position of the chassis 2, the wheels are driven smoothly. to the common mode so that the point of intersection of the axis of their rotation smoothly moves away to infinity, and the movement continues progressively to the destination. In case of a linear linear motion, the wheels are also additionally turned to the current angle of rotation of the chassis and in the opposite direction and to the current angle of HD formed by the straight lines connecting the point of intersection of the axes of rotation of the wheels to the ocbior of the rotation of the wheel in the initial and current positions taking into account the angle of measurement. directions of portable movement. In this case, the angle of rotation of the wheel is equal to (see Fig. 6)::,,:. . . ;. , . Agvg- ..: where D1 is determined from DAOW. - N --- -, .j) sin () + ntos (-ei) / l uiiapttg - ;. ... - .... V., 4.411) pcos () - r /; sin (6jt (ie.) P8in (- /) trjCOSffj and jSrctg rso (p-) -g, Sin & j. Such a way08 allows for the transfer I H-:, v --- In addition, the forward movement of the chassis is also controlled by its relative angular position. Claim of the invention A method of driving a vehicle with all steering gears; the wheels are turned until the axes of their rotation intersect at a single point, that, in order to shorten the maneuvering time by combining the transferable movement and the relative rotation of the chassis, the wheels are but turn by an angle equal to the sum of the current angle of rotation of the chassis in the opposite direction and the current value of the angle formed by the straight lines connecting the point of intersection of the axes of rotation of the wheels with the axis of rotation of the wheel in the initial and current positions. 1. US patent 3633701, cl.180-79.1, 1974 (prototype)