Steering control apparatus
First Claim
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1. Apparatus for steering a moving vehicle comprising:
- steerable wheels and steering arm means connected to said steerable wheels, said steering arm means comprising a slidable tie rod having opposite ends, and steering arms connected to said opposite ends of said tie rod, andsteering means for steering said steerable wheels, includinga movable rack in the form of a hollow cylinder in which said tie rod is slidably mounted,a main steering mechanism, including a steering wheel and pinion, connected to said movable rack for moving said movable rack,motor means operably interconnecting said movable rack with said tie rod for transmitting steering forces from said main steering mechanism to said steerable wheels, said motor means comprising relatively movable first and second parts, said first part connected to said movable rack and said second part connected to said tie rod, andactuating means operably connected to said motor means for actuating said motor means to steer said steerable wheels independently of the movement of said movable rack.
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Abstract
The steering stability of a moving vehicle is maintained by measuring an actual yaw rate of the vehicle and determining a desired yaw rate of the vehicle and producing an output signal in response to a comparison of the actual and desired yaw rates. The steering angle of steerable wheels of the vehicle is controlled in response to the output signal in a manner tending to substantially conform the actual yaw rate to the desired yaw rate, thereby maintaining vehicle stability. The steerable wheels are steered by a steering wheel, and are independently steered by a motor in response to the output signal. That motor may comprise a fluid motor or an electric motor.
54 Citations
11 Claims
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1. Apparatus for steering a moving vehicle comprising:
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steerable wheels and steering arm means connected to said steerable wheels, said steering arm means comprising a slidable tie rod having opposite ends, and steering arms connected to said opposite ends of said tie rod, and steering means for steering said steerable wheels, including a movable rack in the form of a hollow cylinder in which said tie rod is slidably mounted, a main steering mechanism, including a steering wheel and pinion, connected to said movable rack for moving said movable rack, motor means operably interconnecting said movable rack with said tie rod for transmitting steering forces from said main steering mechanism to said steerable wheels, said motor means comprising relatively movable first and second parts, said first part connected to said movable rack and said second part connected to said tie rod, and actuating means operably connected to said motor means for actuating said motor means to steer said steerable wheels independently of the movement of said movable rack. - View Dependent Claims (2, 3, 4, 5)
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6. Apparatus for steering a moving vehicle comprising:
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steerable wheels and steering arm means connected to said steerable wheels, and steering means for steering said steerable wheels, including a movable rack, a main steering mechanism, including a steering wheel and pinion, connected to said movable rack for moving said movable rack, a fluid motor operably interconnecting said movable rack with said steering arm means for transmitting steering forces from said main steering mechanism to said steerable wheels, said fluid motor comprising relatively movable first and second parts, said first part comprising a fluid cylinder connected to said movable rack, and said second part comprising a piston slidably mounted in said fluid cylinder and connected to said steering arm means for displacing said steering arm means in response to relative movement between said piston and fluid cylinder, and actuating means operably connected to said motor means for actuating said motor means to steer said steerable wheels independently of the movement of said movable rack. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification