CN103057585B - Control device and control method for variable transmission ratio of active steering system - Google Patents
Control device and control method for variable transmission ratio of active steering system Download PDFInfo
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- CN103057585B CN103057585B CN201310015026.9A CN201310015026A CN103057585B CN 103057585 B CN103057585 B CN 103057585B CN 201310015026 A CN201310015026 A CN 201310015026A CN 103057585 B CN103057585 B CN 103057585B
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Abstract
The invention discloses a control device and a control method for a variable transmission ratio of an active steering system, and belongs to the technical field. The control device includes: the device comprises a conventional transmission ratio control module, a PID controller, a rotation angle motor, a current detector, a first accumulator, a second accumulator, a first transmission ratio correction module, a second transmission ratio correction module, a switch selector and a yaw rate state observer. The control method selects different additional corner compensation schemes of the corner motor according to the rotating speed signal of the steering wheel, the corner signal of the steering wheel and the corner acceleration signal of the steering wheel, considers the influence of the rotating speed signal of the steering wheel, the corner signal of the steering wheel and the corner acceleration signal of the steering wheel on an active steering system, selects different compensation schemes of the corner motor output additional corners when the vehicle is in different operation stability, and improves the control precision.
Description
Technical field
The invention discloses control setup and the control method of active front steering system variable ratio, belong to the technical field that steering swivel system controls.
Background technology
As the active front steering system being extremely rich in development prospect, which ensure the portability turned to, obtain satisfied steering feel with seasonal chaufeur.At present, domestic and international electric boosting steering system great majority adopt fixed drive ratio, huge modification is made really for hydraulic power-assisted steering, the shortcoming that the power steering size that it avoid traditional hydraulic power-assist steering system provides can not change with the raising of the speed of a motor vehicle.So just make vehicle have good ease of steering when low speed, when high speed, chaufeur obtains significant " road feel ", reduces the sense of security of vehicle stability when running at high speed and chaufeur.But there will be a lot of complex situations in vehicle traveling process and the traveling road conditions of automobile are also complicated and changeable.Fixed drive ratio is unfavorable for the performance changing steering swivel system: easily occur that steering handwheel is partially heavy under the low speed; And at high speeds, easily there is the dangerous working conditions such as ovdersteering, there is hidden danger in the road-holding property of automobile.
Recent years, started the upsurge studied the electric boosting steering system of variable ratio function both at home and abroad, this has made very large progress relative to fixed drive ratio.But transmitting ratio controls the transmitting ratio adjusting automobile only by vehicle speed signal, ignore bearing circle rotating speed and steering wheel angle acceleration/accel completely to the impact of steering swivel system road-holding property, simultaneously because the road conditions of running car are and complexity, transmitting ratio can not be determined only by the speed of a motor vehicle of automobile self and steering wheel angle, not have to consider to occur how exception is revised transmitting ratio once the stability of automobile.When the road-holding property of automobile is different, vehicle transmission than control required consider because have very large difference.Therefore, different transmitting ratio amendment schemes must be proposed according to the difference of the operation stabilization situation of automobile, reduce some potential safety hazards that these defects are brought.
Because automobile running working condition is very complicated, many-sided factor such as survey precision, productive costs of its onboard sensor, a lot of vehicle-state variable all cannot accurately, reliably by sensor obtain; Existing onboard sensor also also exists calibrated error and drift error simultaneously, and these problems limit further developing of active steering system of vehicle variable ratio control.But automobile yaw velocity is as the important indicator of automobile operation stabilization, all playing vital effect in the evaluation of automobile operation stabilization and the control of vehicle transmission ratio etc.For this reason, be necessary to utilize new control method completely, estimate the yaw velocity of automobile, reduce the use of onboard sensor, improve the reliability of yaw rate signal.
Summary of the invention
Technical matters to be solved by this invention is the deficiency for above-mentioned background technology, provides control setup and the control method of active front steering system variable ratio.
The present invention adopts following technical scheme for achieving the above object:
The control setup of active front steering system variable ratio, comprises conventional gear than control module, PID controller, angle electrical machinery, current probe, the first accumulator/accum, the second accumulator/accum, the first transmitting ratio correcting module, the second transmitting ratio correcting module, switching selector, yaw velocity state observer; Wherein:
Described conventional gear connects car speed sensor than control module first input end, and the second input termination steering wheel angle sensor, exports termination first accumulator/accum first input end;
Described yaw velocity state observer first input end connects car speed sensor, the second input termination front wheel angle sensor;
Described switching selector first input end connects angle of roll sensor, yaw velocity state observer mouth described in the second input termination;
Described first transmitting ratio correcting module controls switching selector mouth described in termination, and first input end connects bearing circle tachogen, and the second input termination steering wheel angle acceleration pick-up, exports the second input end of the first accumulator/accum described in termination;
Described second transmitting ratio correcting module controls switching selector mouth described in termination, and first input end connects angle of roll sensor, and yaw velocity state observer mouth described in the second input termination, exports the first accumulator/accum second input end described in termination;
Angle electrical machinery mouth described in described current probe input termination, exports the first accumulator/accum the 3rd input end described in termination;
First accumulator/accum mouth described in described PID controller input termination, exports angle electrical machinery input end described in termination;
Described second accumulator/accum first input end switches through angle motor output end, and the second input termination gear drive mouth, exports termination rack and pinion steering gear input end.
The control setup of described active front steering system variable ratio also comprises vehicle speed signal filter, front wheel angle traffic filter;
Wherein: described vehicle speed signal filter input end connects car speed sensor, yaw velocity state observer first input end described in termination is exported; The input termination front wheel angle sensor of described front wheel angle traffic filter, exports yaw velocity state observer second input end described in termination.
The control method of active front steering system variable ratio, comprises the steps:
Step 1, the active front steering system variable ratio control setup described in structure;
Step 2, chaufeur applies corner moment to the bearing circle of active front steering system;
Step 3, the steering wheel angle signal that the vehicle speed signal that conventional gear records according to car speed sensor than module, steering wheel angle sensor record, obtains desirable angle electrical machinery output current signal;
Step 4, yaw velocity state observer obtains yaw rate signal according to car speed sensor output signal, front wheel angle sensor output signal;
Step 5, switching selector judges vehicle handling stability according to angle of roll sensor output signal, yaw rate signal, and trigger the work of transmitting ratio correcting module and be compensated current signal, concrete mode is as follows:
If when Automobile operation stability is abnormal: switching selector triggers the first transmitting ratio correcting module and obtains the first compensating current signal;
If when Automobile operation stability is normal: switching selector triggers the second transmitting ratio correcting module and obtains the second compensating current signal;
Step 6, first accumulator/accum is the first variable with the desirable angle electrical machinery output current signal described in step 3, be the second variable with the compensating current signal described in step 5, the angle electrical machinery actual output current signal measured with current probe, for ternary, obtains the input of PID controller;
Step 7, PID controller process first accumulator/accum output obtains angle electrical machinery incoming signal, and angle electrical machinery exports additional rotation angle signal;
Step 8, the second accumulator/accum is the first variable with the additional rotation angle signal described in step 7, is the second variable with gear drive output, obtains rack and pinion steering gear incoming signal, and wheel is motion under rack-and-gear rot drives.
The present invention adopts technique scheme, there is following beneficial effect: the present invention not only considers the impact of the speed of a motor vehicle on active front steering system, also contemplate bearing circle tach signal, steering wheel angle signal, steering wheel angle acceleration signal to the impact of active front steering system, select when vehicle is in different operating stability different angle electrical machineries to export the compensation scheme of additional rotation angle, improve control accuracy.The operation eliminating interference is done to vehicle speed signal, front wheel angle signal, further increases control accuracy.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of active steering decorum variable ratio control setup.
Fig. 2 is the simulation block diagram of yaw velocity state observer.
Fig. 3 is the simulation block diagram of switching selector.
Fig. 4 is under external disturbance, the diagram of curves of the observed reading of yaw-rate sensor and the estimated valve of state observer.
Number in the figure illustrates: 1 is pilot model, 2 is bearing circle model, 3 is rotary angle transmitter, 4 is double-row planetary gear, 5 is rack and pinion steering gear, 6 compare control module for conventional gear, 7 is current probe, 8 is PID controller, 9 is angle electrical machinery, 10 is wheel, 11 is the first transmitting ratio correcting module, 12 is switching selector, 13 is the second transmitting ratio correcting module, 14 is yaw velocity state observer, 16 is corner moment, 17 is steering wheel angle information, 18 is steering wheel angle new signal, 19 is double-row planetary gear output, 20 is rack and pinion steering gear incoming signal, 21 is vehicle speed signal, 22 is angle electrical machinery output current signal, 23 is PID controller input, 24 is angle electrical machinery incoming signal, 25 is additional rotation angle signal, 26 is angle electrical machinery actual output current signal, 27 is front wheel angle signal, 28 is bearing circle tach signal, 29 is steering wheel angle acceleration signal, 30 is the first compensation work signal, 31 is the second compensation work signal, 32 is angle of roll signal, 33 for compensating your current signal, 34 is yaw rate signal, 35 is car speed sensor, 36 is car speed sensor interference simulator, 37 is front wheel angle sensor disturbance simulator, 38 is front wheel angle simulaed interference signal, 39 is speed of a motor vehicle simulaed interference signal, 40 is front wheel angle signal disturbing canceller, 41 is vehicle speed signal interference eliminator, 42 is car load two-freedom model, 43 is glitch-free front wheel angle signal, 44 is glitch-free vehicle speed signal, 45 is transverse acceleration signal, 47 is angle of roll sensor disturbance simulator, 48 is angle of roll sensor, 49 is angle of roll signal disturbing canceller, 50 is angle of roll simulaed interference signal, 51 is glitch-free angle of roll signal.
Detailed description of the invention
Be described in detail below in conjunction with the technical scheme of accompanying drawing to invention:
Active front steering system comprises: bearing circle, rotary angle transmitter, double-row planetary gear, rack and pinion steering gear, wheel and car speed sensor.Active front steering system in the present invention with the addition of angle of roll sensor, front wheel angle sensor, steering wheel angle acceleration pick-up, bearing circle tachogen, steering wheel angle sensor.
Car speed sensor: be used for detecting the speed of a motor vehicle of automobile, be usually arranged in driving axle housing.
Steering wheel angle sensor: be used for detecting steering wheel angle, be usually installed on wheel steering tubular axis.
Bearing circle tachogen: be used for detecting bearing circle rotating speed, be usually installed on wheel steering tubular axis.
Steering wheel angle acceleration pick-up: be used for detecting steering wheel angle acceleration/accel, be usually installed on wheel steering tubular axis.
Angle of roll sensor: be used for detecting the inclination degree of automobile, be usually installed on automobile bodies.
Front wheel angle sensor: be used for detecting the corner of front-wheel, be usually installed on front-wheel director.
Existing active front steering system variable ratio control setup, comprises conventional gear than module, PID controller, angle electrical machinery, current probe, the first accumulator/accum, the second accumulator/accum.Conventional gear obtains desirable angle electrical machinery output current signal than the vehicle speed signal that module only records according to car speed sensor.The angle electrical machinery output current signal that first accumulator/accum adds up desirable, angle electrical machinery actual output current signal obtain PID controller input, have ignored bearing circle tach signal, steering wheel angle acceleration signal to the impact of active front steering system operational stability.
Simulation software is utilized to build active front steering system as shown in Figure 1 and variable ratio control setup.Active front steering system comprises: pilot model 1, bearing circle model 2, rotary angle transmitter 3, double-row planetary gear 4, rack and pinion steering gear 5, wheel 10.Active front steering system variable ratio control setup comprises: conventional gear is than control module 6, first accumulator/accum, PID controller 8, angle electrical machinery 9, current probe 7, second accumulator/accum, yaw velocity state observer 14, switching selector 12, first transmitting ratio correcting module 11, second transmitting ratio correcting module 13.Conventional gear connects car speed sensor than control module 6 first input end, and the second input termination steering wheel angle sensor, exports termination first accumulator/accum first input end.Yaw velocity state observer 14 first input end connects car speed sensor, the second input termination front wheel angle sensor.Switching selector 12 first input end connects angle of roll sensor, the second input termination yaw velocity state observer 14 mouth.First transmitting ratio correcting module 11 controls termination switching selector 12 mouth, and first input end connects bearing circle tachogen, and the second input termination steering wheel angle acceleration pick-up, exports the second input end of termination first accumulator/accum.Second transmitting ratio correcting module 13 controls termination switching selector 12 mouth, and first input end connects angle of roll sensor, and the second input termination yaw velocity state observer 14 mouth, exports termination first accumulator/accum second input end.Current probe 7 input end connects angle electrical machinery 9 mouth, exports termination first accumulator/accum the 3rd input end.PID controller 8 inputs termination first accumulator/accum mouth, and mouth connects angle electrical machinery 9 input end.Second accumulator/accum first input end connects angle electrical machinery 9 mouth, and the second input termination double-row planetary gear 4 mouth, exports termination rack and pinion steering gear 5 input end.Wheel 10 connects rack and pinion steering gear 5 mouth.
Active front steering system variable ratio control setup principle of work of the present invention is as follows: chaufeur applies steering torque in bearing circle, bearing circle passes through steering column, double-row planetary gear, bearing circle angular transposition is delivered to rack and pinion steering gear by gear drive, and rack and pinion steering gear drives wheel to turn over certain angle.Meanwhile, active front steering system judges automobile running working condition, rotates certain angle by the double-row planetary gear that rotarily drives of angle electrical machinery.When active front steering system needs transmitting ratio larger, then motor hand of rotation is contrary with bearing circle hand of rotation; When active front steering system needs transmitting ratio less, then motor hand of rotation is consistent with bearing circle hand of rotation.By double-row planetary gear, an additional rotation angle is applied with to wheel, achieves the function of active front steering system variable ratio.
The control method of active front steering system variable ratio, comprises the steps:
Step 1, builds active front steering system variable ratio control setup as shown in Figure 1;
Step 2, pilot model 1 applies corner moment 16 to the bearing circle model 2 of active front steering system;
Step 3, the steering wheel angle signal 18 (θ) that the vehicle speed signal 21 (υ) that conventional gear records according to car speed sensor than module 6, steering wheel angle sensor 3 record from steering wheel angle information 17, desirable angle electrical machinery output current signal 22 is obtained by the ratio characteristic curved surface that presets and k (υ, θ);
Step 4, yaw velocity state observer 14 obtains yaw rate signal 34 according to vehicle speed signal 21, front wheel angle signal 27;
Step 5, according to angle of roll signal 32, yaw velocity, switching selector 12 believes that No. 34 judge vehicle handling stability, trigger the work of transmitting ratio correcting module and be compensated current signal, concrete mode is as follows:
If when Automobile operation stability is abnormal: switching selector exports the first compensation work signal 30 to trigger the first transmitting ratio correcting module, first transmitting ratio correcting module obtains the first compensating current signal according to bearing circle tach signal 28 (ω), steering wheel angle acceleration signal 29 (α), the ratio characteristic curved surface preset and k (ω, α);
If when Automobile operation stability is normal: switching selector exports the second compensation work signal 31 to trigger the second transmitting ratio correcting module, second transmitting ratio correcting module is according to angle of roll signal 32 (β), yaw velocity 34 (δ), the ratio characteristic curved surface preset and k (β, δ) obtain the second compensating current signal;
Step 6, first accumulator/accum is the first variable with the desirable angle electrical machinery output current signal 22 described in step 3, be the second variable with the compensating current signal 33 described in step 5, the angle electrical machinery actual output current signal 26 measured with current probe 7, for ternary, obtains PID controller input 23;
Step 7, PID controller 8 processes the first accumulator/accum output and obtains angle electrical machinery incoming signal 24, and angle electrical machinery 9 exports additional rotation angle signal 25;
Step 8, the second accumulator/accum is the first variable with the additional rotation angle signal 25 described in step 7, is the second variable, obtains rack and pinion steering gear incoming signal 20 with double-row planetary gear output 19, and wheel 10 is motion under rack-and-gear rot 5 drives.
The simulation block diagram of yaw velocity state observer as shown in Figure 2.Car speed sensor 35 is exported vehicle speed signal 21 and car speed sensor interference simulator 36 sends the input of speed of a motor vehicle simulaed interference signal 39 as vehicle speed signal interference eliminator 41, obtain glitch-free vehicle speed signal 44.The front wheel angle signal 27 exported by front wheel angle sensor 34 and front wheel angle sensor disturbance simulator 37 send front wheel angle simulaed interference signal 38 and obtain glitch-free front wheel angle signal 43 as the input of front wheel angle signal disturbing canceller 40.Simultaneously using glitch-free vehicle speed signal 44 and glitch-free front wheel angle signal 43 as the input of car load two-freedom model 42, obtain transverse acceleration signal 45.Yaw velocity state observer 14, by receiving glitch-free vehicle speed signal 44 and transverse acceleration signal 45, by analyzing, calculating, obtains the yaw rate signal 34 of automobile.
The simulation block diagram of switching selector as shown in Figure 3.The angle of roll signal 32 that angle of roll sensor 48 exports and the angle of roll simulaed interference signal 50 that angle of roll sensor disturbance simulator 47 exports, as the input of angle of roll signal disturbing canceller 49, obtain glitch-free angle of roll signal 51.On off controller 12 accepts the yaw rate signal 34 coming from noiseless leaning angle signal 51 and yaw velocity state observer 14 output, and whether checking meets vehicle handling stability situation, as the control signal of on off controller 12.Adopt when vehicle handling stability is normal, perform the second transmitting ratio correction mould 13; When vehicle handling stability is abnormal, then perform the first transmitting ratio correction model 11.This angle electrical machinery current signal is input to angle electrical machinery model 9 by switching selector 12, and angle electrical machinery model 9 just applies an additional rotation angle to double-row planetary gear.
The objective appraisal index of vehicle handling stability does not in the industry cycle have clear and definite standard, different because individual research requirement is different.For ensureing the safety of automobile, the switching selector described in the present invention with: 0≤angle of roll β≤2.5 °, 0≤yaw velocity δ≤0.3rad/s is the criterion of Automobile operation stability.When angle of roll β, yaw velocity δ meet above-mentioned criterion, be judged to be that vehicle handling stability is normal, perform the second transmitting ratio correction model; When angle of roll β, yaw velocity δ meet above-mentioned criterion, then judge that vehicle handling stability is abnormal, performs the first transmitting ratio correction model.Described criterion is only a kind of judgment basis, and the condition that angle of roll β, yaw velocity δ specifically should meet requires according to research and development and formulates.
Fig. 4 is under external disturbance, the diagram of curves of the observed reading of yaw-rate sensor and the estimated valve of state observer.From upper figure, under external disturbance, the observed reading of yaw-rate sensor can produce certain fluctuation because of external interference, and the yaw velocity estimated valve obtained by state observer can not by the impact of external disturbance, and estimated valve curve is comparatively smooth-going.Therefore, more accurate comparatively by sensor measurement of the value of the yaw velocity obtained by state observer, not by the impact of external disturbance.
Utilize active front steering system variable ratio control system of the present invention and control method: automobile is when low speed driving, bearing circle small angle tower, and for alleviating chaufeur burden, reach good ease of steering, steering swivel system should have larger transmitting ratio; And running at high speed, bearing circle large corner time, in order to ensure driving safety, obtain good steering feel, steering swivel system should have less transmitting ratio simultaneously.Therefore, in active front steering system, realize variable-speed ratio function, the perfection realizing motor turning portability and steering feel is merged, and the safety of automobile and alerting ability organically can also be merged, be a kind of desirable steering swivel system, have broad application prospects.
In sum, the present invention not only considers the impact of the speed of a motor vehicle on active front steering system, also contemplate bearing circle tach signal, steering wheel angle signal, steering wheel angle acceleration signal to the impact of active front steering system, select when vehicle is in different operating stability different angle electrical machineries to export the compensation scheme of additional rotation angle, improve control accuracy.The operation eliminating interference is done to vehicle speed signal, front wheel angle signal, further increases control accuracy.
Claims (3)
1. the control setup of active front steering system variable ratio, comprise conventional gear than control module, PID controller, angle electrical machinery, current probe, the first accumulator/accum, the second accumulator/accum, it is characterized in that the control setup of described active front steering system variable ratio also comprises: the first transmitting ratio correcting module, the second transmitting ratio correcting module, switching selector, yaw velocity state observer; Wherein:
Described conventional gear connects car speed sensor than control module first input end, and the second input termination steering wheel angle sensor, exports termination first accumulator/accum first input end;
Described yaw velocity state observer first input end connects car speed sensor, the second input termination front wheel angle sensor;
Described switching selector first input end connects angle of roll sensor, yaw velocity state observer mouth described in the second input termination;
Described first transmitting ratio correcting module controls switching selector mouth described in termination, and first input end connects bearing circle tachogen, and the second input termination steering wheel angle acceleration pick-up, exports the second input end of the first accumulator/accum described in termination;
Described second transmitting ratio correcting module controls switching selector mouth described in termination, and first input end connects angle of roll sensor, and yaw velocity state observer mouth described in the second input termination, exports the first accumulator/accum second input end described in termination;
Angle electrical machinery mouth described in described current probe input termination, exports the first accumulator/accum the 3rd input end described in termination;
First accumulator/accum mouth described in described PID controller input termination, exports angle electrical machinery input end described in termination;
Described second accumulator/accum first input end switches through angle motor output end, and the second input termination gear drive mouth, exports termination rack and pinion steering gear input end.
2. the control setup of active front steering system variable ratio according to claim 1, is characterized in that the control setup of described active front steering system variable ratio also comprises vehicle speed signal filter, front wheel angle traffic filter;
Wherein: described vehicle speed signal filter input end connects car speed sensor, yaw velocity state observer first input end described in termination is exported; The input termination front wheel angle sensor of described front wheel angle traffic filter, exports yaw velocity state observer second input end described in termination.
3. the control method of active front steering system variable ratio, is characterized in that comprising the steps:
Step 1, builds active front steering system variable ratio control setup as claimed in claim 1 or 2;
Step 2, chaufeur applies corner moment to the bearing circle of active front steering system;
Step 3, the steering wheel angle signal that the vehicle speed signal that conventional gear records according to car speed sensor than control module, steering wheel angle sensor record, obtains desirable angle electrical machinery output current signal;
Step 4, yaw velocity state observer obtains yaw rate signal according to car speed sensor output signal, front wheel angle sensor output signal;
Step 5, switching selector judges vehicle handling stability according to angle of roll sensor output signal, yaw rate signal, and trigger the work of transmitting ratio correcting module and be compensated current signal, concrete mode is as follows:
If when Automobile operation stability is abnormal: switching selector triggers the first transmitting ratio correcting module and obtains the first compensating current signal;
If when Automobile operation stability is normal: switching selector triggers the second transmitting ratio correcting module and obtains the second compensating current signal;
Step 6, first accumulator/accum is the first variable with the desirable angle electrical machinery output current signal described in step 3, be the second variable with the compensating current signal described in step 5, the angle electrical machinery actual output current signal measured with current probe, for ternary, obtains the input of PID controller;
Step 7, PID controller process first accumulator/accum output obtains angle electrical machinery incoming signal, and angle electrical machinery exports additional rotation angle signal;
Step 8, the second accumulator/accum is the first variable with the additional rotation angle signal described in step 7, is the second variable with gear drive output, obtains rack and pinion steering gear incoming signal, and wheel is motion under rack-and-gear rot drives.
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| CN105128928B (en) * | 2015-09-11 | 2017-04-19 | 南京航空航天大学 | Control method for electronically controlled hydraulic power steering system with transmission ratio changing function |
| CN106428204B (en) * | 2016-11-15 | 2018-11-09 | 南京航空航天大学 | A kind of active composite turning system, torque control unit and method for controlling torque |
| CN106769114A (en) * | 2017-03-06 | 2017-05-31 | 吉林大学 | Motor turning gearratio measurement apparatus and method |
| CN107792169B (en) * | 2017-11-07 | 2019-12-31 | 长春工业大学 | EPS steering wheel sudden change torque correction method integrating active front wheel steering |
| CN116198596A (en) * | 2023-03-22 | 2023-06-02 | 中国第一汽车股份有限公司 | Curve driving control method, device, equipment and medium for steer-by-wire vehicle |
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Effective date of registration: 20160203 Address after: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee after: Nanjing University of Aeronautics and Astronautics Patentee after: Zhejiang Wanda Steering Gear Co., Ltd. Address before: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee before: Nanjing University of Aeronautics and Astronautics |
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Address after: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee after: Nanjing University of Aeronautics and Astronautics Patentee after: Zhejiang Wanda Automobile Direction Machine Co., Ltd. Address before: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee before: Nanjing University of Aeronautics and Astronautics Patentee before: Zhejiang Wanda Steering Gear Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee after: Nanjing University of Aeronautics and Astronautics Patentee after: Zhejiang Wanda automobile steering machine Co., Ltd. Address before: Yudaojie Baixia District of Nanjing City, Jiangsu Province, No. 29 210016 Patentee before: Nanjing University of Aeronautics and Astronautics Patentee before: Zhejiang Wanda automobile steering gear Co., Ltd |