Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (8): 2185-2192.doi: 10.13229/j.cnki.jdxbgxb.20211137

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Design and experiment of tilt-driving mechanism for the vehicle

Ping-yi LIU1(),Xiao-ting LI1,Ruo-lin GAO1,Hai-tao LI1,Wen-jun WEI1,2,Ya WANG2   

  1. 1.College of Engineering，China Agricultural University，Beijing 100083，China
    2.Henan AllinRide Technology Co. ，Ltd. ，Zhengzhou 450016，China
  • Received:2021-10-29 Online:2023-08-01 Published:2023-08-21

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Abstract:

In order to improve the driving stability of the narrow vehicle on a bend， a tilt-driving mechanism is designed according to balancing the gravity torque and the centrifugal torque generated by vehicle tilting to avoid vehicle roller. The kinematics model of the tilt-driving mechanism is established by vector polygon method， which analyzes the relationship between tilt driving and tilt executing parameters. An active tilt reverse three wheels prototype vehicle with the tilting-drive mechanism is developed. And the turning and tilting experiment of S-track is conducted. Taking the theoretical tilt execution parameters as the target parameters， the theoretical value of motor is solved and used as the input. The theoretical and experimental data of motor and vehicle tilt parameters are compared and analyzed. Finally， the experiment results show that the experimental data are consistent with the theoretical data and the root mean square error of tilt angle is 0.89°. It verifies that the design scheme of the tilt-driving mechanism is feasible and the kinematics analysis is correct. At the same time， the vehicle tilt-driving control is verified to be reliable.

Key words: vehicle engineering, vehicle tilt, reverse three wheels, tilt-driving mechanism, kinematics

CLC Number: 

  • U463.2

Fig.1

Diagram of tilt-driving mechanism"

Fig.2

Left steering status of tilt-driving mechanism"

Fig.3

Parameter calibration of tilt-driving mechanism"

Fig.4

Left tilting status and parameters of tilt-driving mechanism"

Table 1

Parameters of tilt-driving mechanism"

参数数值参数数值
iq150d2/m0.196
L1/m0.198d/m0.500
L2/m0.258a/m0.079
L3/m0.169b/m0.098
d1/m0.298z/m0.140
L4/m0.276r0/m0.025
L5/m0.196δ1/（°）13.57
L6/m0.276γ1/（°）12.04

Fig.5

Transmission ratio characteristics of tilt-driving mechanism within -20°~20° tilt angle"

Fig.6

S-track driving curve"

Fig.7

Variation regularities of theoretical tilt parameters under S-track driving curve"

Fig.8

Variation curve of motor angle and angular velocity under S-track driving curve"

Fig.9

Active tilt reverse three wheels prototype vehicle"

Fig.10

Experiment equipment"

Fig.11

Track of experiment driving"

Fig.12

Comparison between theoretical and experimental results of motor"

Fig.13

Comparison between theoretical and experimental results of vehicle tilting"

Fig.14

Error analysis"

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