Embodiments of this application provide a speed shifting apparatus, a control method thereof, a steering system, and a control method thereof, and relate to the field of mechanical transmission technologies. The speed shifting apparatus includes: an outer rotating wheel; an inner rotating wheel, where a rotation axis of the inner rotating wheel is parallel to and different from a rotation axis of the outer rotating wheel; and a plurality of meshing members, arranged along a circumferential direction of the inner rotating wheel or the outer rotating wheel. Either the outer rotating wheel or the inner rotating wheel is provided with a plurality of sliding grooves, and the plurality of sliding grooves are in a one-to-one correspondence with the plurality of meshing members.

A steering system and a vehicle are provided. The steering system includes a steering wheel end shaft, a steering device end shaft, and an electric driving mechanism configured to drive decoupling or coupling of the steering wheel end shaft and the steering device end shaft that are coaxially disposed.

An emergency steering system for a vehicle, may include a planetary gear mounted in an inlet space of a gear box for a steering apparatus so that the planetary gear is ordinarily operated at a gear ratio of 1:1 and has an increased gear ratio in the event of failure of a main steering device; and a gear ratio increasing device mounted to an upper plate portion of the gear box to increase the gear ratio of the planetary gear.

[Problem]

An object of the present invention is to provide a high-performance electric power steering apparatus that constitutes a control system based on a physical model, constitutes a model following control that an output (a distance to a rack end) of a controlled object follows-up to a reference model, eliminates or reduces the occurrences of a noisy sound and a shock force at an end hitting without giving any uncomfortable steering feeling to a driver, and reduces the end hitting.

[Means for solving the problem]

The present invention is the electric power steering apparatus that calculates a current command value based on at least a steering torque and performs an assist-control of a steering system by driving a motor based on the current command value, comprising: a configuration of a model following control including a viscoelastic model as a reference model within a predetermined angle at front of a rack end so as to suppress a rack end hitting.

A clamping apparatus may include a stroke-generating disk that is rotatable about a clamping axis and is connected via a first stroke-generating gearing and a second stroke-generating gearing to a pressure disk, which is stationary relative to the rotation of the stroke-generating disk. The first stroke-generating gearing converts a relative rotation of the stroke-generating disk in a first actuating angle range in the clamping direction into a first axial stroke relative to the pressure disk. The second stroke-generating gearing converts a further rotation of the stroke-generating disk following the first actuating angle range in a second actuating angle range into a second axial stroke between the stroke-generating disk and the pressure disk. At least one of the stroke-generating gearings is a tilting pin gearing, with at least one tilting pin supported in the direction of its pin axis between corresponding bearing points on the stroke-generating disk and the pressure disk.

The adjustment assembly of a hydraulic steering system of a vehicle is provided. The adjustment assembly can be positioned between the steering column and the hydraulic steering unit of the system, to adjust the mutual angular position between the rotation angle of the steering column (α) and the effective steering angle at the wheels (β). The adjustment assembly includes an adjustment device including an electric motor and an electronic command unit controlling its actuation; an epicycloidal device including a satellite-carrying member operatively connected to the steering column; at least one satellite gear supported and guided in rotation by the satellite-carrying member; a first solar gear operatively connected to the hydraulic steering unit and to the at least one satellite gear; and a second solar gear operatively connected to the adjustment device and to the first solar gear to control the angular position and/or the rotation of the first solar gear.

A multifunctional steering column for a transportation vehicle having a steering bracket for connection of the steering column to a transportation vehicle body of the transportation vehicle; a steering tube held on the steering bracket and which has a steering tube axis; a steering wheel connection for mechanical coupling of the steering column to a steering wheel; and a steering gear end at which a steering gear clutch with a steering gear connection for mechanical coupling to a steering gear of the transportation vehicle is arranged. Also disclosed is a transportation vehicle and a method for operating a transportation vehicle.

According to one or more embodiments, a steer by wire steering system includes a handwheel actuator, a roadwheel actuator, and a resynchronization module to dynamically adjust handwheel position that is used for rack position reference calculation. The dynamic adjustment includes determining a desynchronization amount based on a difference in an actual handwheel position and a synchronized handwheel position. The dynamic adjustment further includes computing a handwheel adjustment using the desynchronization amount, a vehicle speed, and a handwheel speed. The dynamic adjustment further includes computing an adjusted handwheel position based on the handwheel adjustment and the actual handwheel position. The dynamic adjustment further includes updating the reference rack position based on the adjusted handwheel position. The dynamic adjustment is continuously repeated until the handwheel adjustment is substantially equal to zero.

A steering column for a motor vehicle includes a steering shaft, mounted rotatably about a longitudinal axis in a steering column housing, and a rotation limiter, and has a smooth and quiet construction of the rotation limiter. The rotation limiter includes two oppositely directed flat spiral springs, which are operatively arranged between a coupling part, disposed in a rotationally secure manner on the steering shaft, and the steering column housing.

A control apparatus calculates an axial force deviation, which is a difference between an estimated axial force and an ideal axial force based on a target pinion angle of a pinion shaft in association with a turning operation of steered wheels. The estimated axial force is based on a state variable that reflects vehicle behavior or a road condition. The control apparatus includes a steering angle ratio change control circuit configured to calculate a target pinion angle serving as a basis for calculation of the command value. The steering angle ratio change control circuit calculates a speed increasing ratio from a steering angle ratio set based on a vehicle speed and a base gear ratio of a steering mechanism, and calculates a correction angle for a target steering angle by multiplying the speed increasing ratio and the target steering angle together.