Active steering system for articulated bus
An active steering system for an articulated bus is provided. In an assisted steering mode, a hydraulic turntable assists in the steering action of the articulated bus. While the articulated bus is linearly driven at a high speed or the lane-changing action is performed, the assisted steering mode can provide stable driving performance. In the assisted steering mode, a better steering trajectory is achieved while a cornering action of the articulated bus is performed. By collecting the information about the driving velocity, the position of the transmission gear and the position of the steering wheel, a steering force applied to the front frame and the trailer frame is calculated. Moreover, if the control unit judges that the angle of the hydraulic turntable is optimal, a locking force is generated to assure the optimal angle of the articulated bus. The assisted steering mode also supports the action of reversing the articulated bus. When the articulated joint is adjusted to an optimal trajectory, the articulated bus is reversed to the designated position.
1. An active steering system for an articulated vehicle having a steerable front axle, the active steering system comprising:
a joint base and a suspension arm for connecting a front frame with a trailer frame, wherein the front frame and the suspension arm are rotated relative to each other through the joint base and the suspension arm;
a hydraulic turntable installed on the joint base for adjusting a joint angle between the front frame and the trailer frame, wherein the hydraulic turntable comprises a hydraulic motor, a pressure regulating valve, a ring gear, a small gear and a bearing;
a main hydraulic pump and a servo motor, wherein the servo motor is connected with the main hydraulic pump, and the main hydraulic pump and the servo motor are installed in a chamber of the trailer frame, wherein the main hydraulic pump and the servo motor transfer a hydraulic oil to the hydraulic motor through a first hydraulic tube and a second hydraulic tube so as to provide a control torsion force in a clockwise direction or a counterclockwise direction; and
a control unit for controlling an assisted steering mode, wherein in the assisted steering mode, a target joint angle is determined according to a position information of a steering wheel, and the control unit instructs the servo motor to pressurize the hydraulic oil and turn the hydraulic turntable at a calculated angular velocity according to a velocity of the articulated vehicle until a joint angle between the front and the trailer frame reaches the target joint angle.
2. The active steering system according to claim 1 , wherein the target joint angle is in proportion to the position information of the steering wheel.
3. The active steering system according to claim 1 , wherein the target joint angle is limited by the velocity of the articulated vehicle.
4. The active steering system according to claim 1 , wherein the angular velocity of the hydraulic turntable is limited by the velocity of the articulated vehicle.
5. An active steering system for an articulated bus, the active steering system comprising:
a joint base and a suspension arm for connecting a front frame with a trailer frame, wherein the front frame and the suspension arm are rotated relative to each other through the joint base and the suspension arm;
a hydraulic turntable installed on the joint base for adjusting a joint angle between the front frame and the trailer frame, wherein the hydraulic turntable comprises a hydraulic motor, a pressure regulating valve, a ring gear, a small gear and a bearing;
a main hydraulic pump and a servo motor, wherein the servo motor is connected with the main hydraulic pump, and the main hydraulic pump and the servo motor are installed in a chamber of the trailer frame, wherein the main hydraulic pump and the servo motor transfer a hydraulic oil to the hydraulic motor through a first hydraulic tube and a second hydraulic tube so as to provide a control torsion force in a clockwise direction or a counterclockwise direction; and
a control unit for controlling an assisted steering mode, wherein in the assisted steering mode, a target joint angle is determined according to a position information of a steering wheel, and the control unit instructs the servo motor to pressurize the hydraulic oil and turn the hydraulic turntable at a calculated angular velocity according to a velocity of the articulated bus until a joint angle between the front and the trailer frame reaches a target joint angle.