CN109774786B - Multi-mode power-assisted steering system based on steer-by-wire and control method thereof - Google Patents
Multi-mode power-assisted steering system based on steer-by-wire and control method thereof Download PDFInfo
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Abstract
The invention discloses a multimode power-assisted steering system based on steer-by-wire and a control method thereof, wherein the system comprises a steering mechanical module, an electric hydraulic power-assisted module, an ECU control module, a rotary switch and a vehicle-mounted sensor; and includes five modes of operation: a drive-by-wire mode, an electro-hydraulic active steering mode, an electro-hydraulic composite active steering mode, an electro-hydraulic steering mode and a mechanical steering mode; the system can meet the requirements of different driving experiences of a driver through the switching of multiple modes, and can better ensure the safety of the driver through the mode switching when the on-line steering mode and other modes are failed.
Description
Technical Field
The invention relates to a power-assisted steering system by wire, in particular to a multi-mode power-assisted steering system based on steering by wire and a control method thereof.
Background
The steering system is one of key components of the automobile, and a driver controls the movement direction of the automobile through the steering system, so that the design of the steering system directly affects the driving safety, the steering stability and the driving comfort of the automobile. Steer-by-wire systems are a new generation of steering systems, also known as flexible steering systems, because the mechanical connection between the steering wheel and the steered wheels is eliminated. The drive-by-wire power-assisted steering system is completely free from various limitations of the traditional steering system, a driver only inputs a steering angle signal instruction of a steering wheel to the vehicle, and the controller controls the front wheel to steer through the actuator according to the steering angle signal of the steering wheel, the current running state of the vehicle and other information, so that the drive-by-wire power-assisted steering system is simple in structure and convenient to arrange, and the influence of road surface interference on the driver is reduced.
However, the power steering system on the market at present is mainly applied to a car, and for commercial vehicles with larger front axle load, relevant reports of power steering by wire are fresh. Secondly, the single driving mode hardly satisfies different requirements of a driver, the drive-by-wire steering cancels mechanical connection, and facilitates the arrangement of a mechanical structure, but the driver is isolated from a real road feel, the driving state of the vehicle cannot be reasonably controlled according to the real road surface condition, the driving experience is poor, and the safety of the vehicle is also influenced.
The current steer-by-wire multi-mode system mainly depends on a set of steering system when in operation, and various works are completed under the steer-by-wire system, for example, chinese patent application 201810280502.2 discloses a multi-mode steer-by-wire system which has a torque control mode, a rotation angle control mode and a path tracking control mode. However, the steering system can only realize the steering-by-wire function, the driving experience is single, and the steering system cannot be controlled when the steering-by-wire system has mechanical failure.
Disclosure of Invention
In order to solve the problems, the invention provides the multi-mode power-assisted steering system suitable for the commercial vehicle with larger front axle load, which can provide larger steering power compared with a car steering system, and meanwhile, the working mode of the steering system has multiple choices according to the choices of a driver and different road conditions.
The invention adopts the following technical scheme for solving the technical problems:
a multi-mode power steering system based on steer-by-wire comprises a steering mechanical module, an electro-hydraulic power module, an ECU control module 4, a rotary switch 25 and an on-vehicle sensor.
The steering mechanical module comprises a steering wheel 1, a steering column 2, a road sensing motor 4, an electromagnetic clutch A10, an electromagnetic clutch B9, a double-planet-row mechanism 11, a worm gear mechanism 12, a corner motor 13, wheels 14, a steering tie rod 15 and a rack-and-pinion mechanism 17; the steering wheel 1 is positioned in the vehicle body, one end of the steering column 2 is connected with the steering wheel 1, and the other end is connected with the electromagnetic clutch B9; the electromagnetic clutch B9 and the electromagnetic clutch A10 are arranged on the steering column 2, and the electromagnetic clutch B9 is positioned between the steering wheel 1 and the electromagnetic clutch A10; the road sensing motor 8 is connected with the electromagnetic clutch B9; the corner motor 13 is connected with a lower gear ring of the double planetary gear mechanism 11 through a worm gear mechanism 12, an output shaft of the double planetary gear mechanism 11 is connected with a gear rack mechanism 17, and a torque sensor B16 is arranged on the output shaft of the double planetary gear mechanism 11; wheels 14 are arranged at two ends of the steering tie rod 15.
The electro-hydraulic power assisting module comprises a hydraulic oil tank 19, a hydraulic pump 21, an overflow valve 22, a power assisting motor 20, a rotary valve 23 and a hydraulic cylinder 18; the hydraulic oil tank 19 is connected with the hydraulic pump 21, the rotary valve 23 and the hydraulic cylinder 18 in sequence, the booster motor 20 is connected with the movable hydraulic pump 21 and directly drives the hydraulic pump 21, the overflow valve 22 is connected with the hydraulic pump 21 in parallel, and the hydraulic oil tank 19 is opened when the pressure of a hydraulic pipeline is too high, so that hydraulic oil flows back; the hydraulic cylinder 18 is provided on the tie rod 15.
The vehicle-mounted sensor comprises a vehicle speed sensor, a yaw rate sensor, a lateral acceleration sensor, a torque sensor A, a torque sensor B, a current sensor and a corner sensor, wherein the torque sensor A is arranged on the steering column 2.
The ECU control module 4 is connected with the rotary switch; the ECU control module 4 comprises a signal processing module 32, an electromagnetic clutch module 27, a corner motor control module 36, a power-assisted motor control module 39, a road-sensing motor control module 42 and a compound steering power-assisted distribution module 45 which are connected with each other; the ECU control module 4 receives signals from the in-vehicle sensors, respectively. Specifically, the ECU control module 4 receives the vehicle speed signal 5 from the vehicle speed sensor, the yaw rate signal 6 from the yaw rate sensor, the lateral acceleration signal 7 from the lateral acceleration sensor, the torque sensor signal 44 from the torque sensor A3, the current signal 43 from the current sensor, and the rotation angle signal 38 from the rotation angle sensor, respectively.
The multimode power-assisted steering system based on steer-by-wire provided by the invention comprises five working modes, wherein the working modes are converted through a selection switch: 1) In the drive-by-wire mode, an electromagnetic clutch is added between a steering column and a double-planet row, the electromagnetic clutch is kept disconnected in an electrified state, an electromagnetic clutch is also added between a road sensing motor and the steering column, the electrified state is kept closed, the road sensing motor provides proper reaction force (road sensing) for a driver when the driver operates a steering wheel to steer, an input shaft of the double-planet row is locked, a corner motor serves as an actuating mechanism to provide corner input for a steering system, meanwhile, a power assisting motor drives a hydraulic pump to supply oil to a steering valve, the steering valve is connected with two sides of a hydraulic cylinder, and pressure difference is formed at two sides of the hydraulic cylinder to provide power assistance for the drive-by-wire power steering system.
2) In the electro-hydraulic active steering mode, an electromagnetic clutch between a steering column and a double planetary gear is powered off and closed, an electromagnetic clutch between a road sensing motor and the steering column is powered off, a disconnected state is kept, a driver inputs a steering wheel corner, the road sensing motor does not work any more, an additional corner is input by a double planetary gear mechanism, the steering wheel corner is superposed as a gear rack mechanism input angle when meeting the additional corner, and meanwhile, a power assisting motor drives a hydraulic module to provide power for a steering system.
3) In the electrohydraulic compound active steering mode, an electromagnetic clutch between a steering column and a double planetary gear is powered off and closed, an electromagnetic clutch between a road sensing motor and the steering column is powered on and closed, a driver inputs steering wheel rotation angle, the road sensing motor does not provide reaction force any more, and provides force in the same direction, assistance is provided for a steering system, an additional rotation angle is provided by a rotation angle motor through the double planetary gear, and assistance is provided by an assistance motor driving hydraulic module for the steering system.
4) In the electro-hydraulic steering mode, an electromagnetic clutch between a steering column and a double-planet row is powered off and closed, an electromagnetic clutch between a road sensing motor and the steering column is powered off, the road sensing motor and a corner motor are kept in a disconnected state and are locked and do not work, and at the moment, a power-assisted motor drives a steering system hydraulic module to provide power for steering, and a driver inputs steering wheel corners and provides auxiliary power.
5) In the mechanical steering mode, the electromagnetic clutch between the steering column and the double planetary rows is powered off and closed, the electromagnetic clutch between the road sensing motor and the steering column is powered off, the road sensing motor, the corner motor and the power-assisted motor are kept in an off state and are locked and do not work, and at the moment, a steering wheel corner is input by a driver and power is provided for a steering system.
According to the control method of the multi-mode power-assisted steering system based on steer-by-wire, different steering system modes are selected according to the rotary switch, sensor signals are collected, and different control schemes are adopted:
1) The selection mode is a steer-by-wire mode, the electromagnetic clutch 9 is closed, and the electromagnetic clutch A0 is opened. According to the vehicle speed signal, the front wheel steering angle signal and the steering wheel steering angle signal, an ideal transmission ratio signal, a power-assisted signal and a road sense signal are determined, the steering angle control is realized through a steering angle motor steering angle control module, the power-assisted control is realized through a power-assisted motor control module, and the road sense control is realized through a road sense motor control module.
2) When the selection mode is the electrohydraulic active steering mode, the electromagnetic clutch 9 is opened and the electromagnetic clutch A0 is closed. And determining ideal power-assisted signals and road feel signals according to the vehicle speed signals, the front wheel steering angle signals and the steering wheel steering angle signals, realizing steering angle control through a steering angle motor steering angle control module, and realizing power-assisted control through the power-assisted motor control module.
3) When the selection mode is the compound steering mode, the electromagnetic clutch 9 is closed, and the electromagnetic clutch A0 is closed. And determining an ideal transmission ratio signal, a power-assisted signal and a road feel signal according to the vehicle speed signal, the front wheel steering angle signal and the steering wheel angle signal. The steering angle control is realized through a steering angle motor steering angle control module, the power distribution is realized through a composite steering power distribution module, the hydraulic power is realized through a power motor control module, and the motor power is realized through a road sensing motor control module.
4) When the selection mode is the electro-hydraulic steering mode, the electromagnetic clutch 9 is opened and the electromagnetic clutch A0 is closed. And determining an ideal power-assisted signal according to the vehicle speed signal, the front wheel steering angle signal and the steering wheel angle signal, and realizing hydraulic power assistance through a power-assisted motor control module, wherein other modules are not triggered in an electro-hydraulic steering mode.
5) When the selection mode is the mechanical steering mode, the electromagnetic clutch 9 is opened and the electromagnetic clutch A0 is closed. All control modules are not triggered in the mechanical steering mode.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. the hydraulic power is adopted, so that the power-assisted steering function can be realized on a commercial vehicle with a larger front axle load, the operation load of a driver can be effectively reduced, and the driving fatigue caused by road surface interference is reduced;
2. by introducing the double planetary gear set mechanism into the drive-by-wire power-assisted steering system, 5 steering modes of drive-by-wire steering, electric hydraulic active steering, electric hydraulic composite active steering, electric hydraulic steering and mechanical steering are creatively realized, and after the automobile is equipped, various driving requirements of a driver can be met, and more driving pleasure is experienced; in the bench test, one set of equipment can meet the operation experiments of various steering modes;
3. a set of control method is adopted aiming at five steering modes, so that the innovation is realized, and meanwhile, the control cost of a steering system is effectively reduced;
4. when the steer-by-wire fails, unexpected occurrence can be effectively avoided by switching the working mode of the steering system, and the running safety of the automobile is improved;
drawings
FIG. 1 is a schematic diagram of a multi-mode power steering system based on steer-by-wire;
FIG. 2 is a schematic diagram of a method of controlling a multi-mode power steering system based on steer-by-wire.
In the figure, 1, a steering wheel; 2. a steering column; 3. a torque sensor A; 4. an ECU control module; 5. a vehicle speed signal; 6. a yaw rate signal; 7. a lateral acceleration signal; 8. a road-sensing motor; 9. an electromagnetic clutch B; 10. an electromagnetic clutch A; 11. a double planetary gear mechanism; 12. a worm gear; 13. a corner motor; 14. a wheel; 15. a tie rod; 16. a torque sensor B; 17. a rack and pinion mechanism; 18. a hydraulic cylinder; 19. an oil tank; 20. a booster motor; 21. a hydraulic pump; 22. an overflow valve; 23. a rotary valve; 24. a driver instruction; 25. a rotary switch; 26. a steering mode signal; 27. an electromagnetic clutch module; 28. an electromagnetic clutch A switch signal; 29. an electromagnetic clutch B switch signal; 30. a front wheel steering angle signal; 31. steering wheel angle signals; 32. a signal processing module; 33. an ideal gear ratio signal; 34. an ideal boost signal; 35. an ideal road feel signal; 36. a corner motor control module; 37. a corner motor corner signal; 38. an actual rotation angle signal of the motor; 39. a booster motor control module; 40. a power-assisted motor rotating speed signal; 41. an actual rotating speed signal of the motor; 42. a road sensing motor control module; 43. a road sensing motor current signal; 44. a torque sensor signal; 45. a composite steering assist distribution module; 46. hydraulic ideal boost signal; 47. and (5) an ideal power-assisted signal of the motor.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
in the examples, the ECU control panel is purchased from Jin Huatong Fengshui Inc., model CK3404ECU02F-52,
The rotary switch is purchased from Zhejiang Leiman electric technology Co., ltd, and the model is LMSQ3;
the vehicle speed sensor is purchased from Shanghai Hall power on electronic company, and the model is OS-01110;
the steering wheel angle sensor is purchased from SENSORWAY company and has the model number ZLS-Pb;
steering wheel angular velocity sensor available from Bosch company under model HX-905;
yaw rate and lateral acceleration sensors are available from Bosch corporation;
the front wheel steering angle sensor is purchased from SENSORWAY company and has the model number ZLS-Pb;
the torque sensor is available from MEIYI company under model number ZJ-8;
the power-assisted motor rotating speed sensor is purchased from Kingyu company and is model SE-02;
the angular motor angular sensor is available from ATD company under model APS1190-01.
The equipment and devices of the following examples are commercially available products unless otherwise specified.
Example 1
As shown in fig. 1, the invention discloses a multimode power-assisted steering system based on steer-by-wire, which comprises a vehicle body, a steering mechanical module, an electro-hydraulic power-assisted module, an ECU control module 4, a rotary switch 25 and an on-vehicle sensor.
The steering mechanical module comprises a steering wheel 1, a steering column 2, a road sensing motor 4, an electromagnetic clutch A10, an electromagnetic clutch B9, a double-planet-row mechanism 11, a worm gear mechanism 12, a corner motor 13, wheels 14, a steering tie rod 15 and a gear rack mechanism 17; the steering wheel 1 is positioned in the vehicle body, one end of the steering column 2 is connected with the steering wheel 1, and the other end is connected with the electromagnetic clutch B9; the electromagnetic clutch B9 and the electromagnetic clutch A10 are arranged on the steering column 2, and the electromagnetic clutch B9 is positioned between the steering wheel 1 and the electromagnetic clutch A10; the road sensing motor 8 is connected with the electromagnetic clutch B9; the corner motor 13 is connected with a lower gear ring of the double planetary gear mechanism 11 through a worm gear mechanism 12, an output shaft of the double planetary gear mechanism 11 is connected with a gear rack mechanism 17, and a torque sensor B16 is arranged on the output shaft of the double planetary gear mechanism 11; wheels 14 are arranged at two ends of the steering tie rod 15.
The electro-hydraulic power assisting module comprises a hydraulic oil tank 19, a hydraulic pump 21, an overflow valve 22, a power assisting motor 20, a rotary valve 23 and a hydraulic cylinder 18; the hydraulic oil tank 19 is connected with the hydraulic pump 21, the rotary valve 23 and the hydraulic cylinder 18 in sequence, the booster motor 20 is connected with the movable hydraulic pump 21 and directly drives the hydraulic pump 21, the overflow valve 22 is connected with the hydraulic pump 21 in parallel, and the hydraulic oil tank 19 is opened when the pressure of a hydraulic pipeline is too high, so that hydraulic oil flows back; the hydraulic cylinder 18 is provided on the tie rod 15.
The vehicle-mounted sensor comprises a vehicle speed sensor, a yaw rate sensor, a lateral acceleration sensor, a torque sensor A3, a torque sensor B, a current sensor and a corner sensor, wherein the vehicle-mounted sensor is arranged on the steering column 2, and the installation mode and the installation position of the vehicle-mounted sensor are carried out according to the product specifications.
The ECU control module 4 is connected with the rotary switch 25; the ECU control module 4 comprises a signal processing module 32, an electromagnetic clutch module 27, a corner motor control module 36, a power-assisted motor control module 39, a road-sensing motor control module 42 and a compound steering power-assisted distribution module 45 which are connected with each other; the ECU module 4 receives a vehicle speed signal 5 from a vehicle speed sensor, a yaw rate signal 6 from a yaw rate sensor, a lateral acceleration signal 7 from a lateral acceleration sensor, a torque sensor signal 44 from a torque sensor A3, a current signal 43 from a current sensor, and a rotation angle signal 38 from a rotation angle sensor, respectively.
The knob switch used in this embodiment is a commercially available product, and the circuit connection manner of the knob switch and the ECU control module 4 is described in the knob switch product specification.
The multimode power steering system with steer-by-wire provided in this embodiment adopts the rotary switch 25 connected with the ECU control module 4 through a circuit, and can manually switch five working modes: the system comprises a drive-by-wire mode, an electro-hydraulic active steering mode, an electro-hydraulic composite active steering mode, an electro-hydraulic steering mode and a mechanical steering mode, and is specifically as follows:
1) In the drive-by-wire mode, the electromagnetic clutch A-10 between the steering column 2 and the double-row mechanism 11 is kept open in the energized state, and the electromagnetic clutch B-9 between the road-sensing motor 8 and the steering column 2 is kept closed in the energized state; when a driver operates a steering wheel to steer, the road-sensing motor 8 provides proper reaction force (road feel) for the driver, the input shaft of the double-planet-row mechanism 11 is locked, the corner motor 13 serves as an actuating mechanism to provide corner input for a steering system, meanwhile, the power-assisted motor 20 drives the hydraulic pump 21 to supply oil to the rotary valve 23, the rotary valve 23 is connected with two sides of the hydraulic cylinder 18, a pressure difference is formed on two sides of the hydraulic cylinder 18, and power assistance is provided for the power-assisted steering system.
2) In the electro-hydraulic active steering mode, an electromagnetic clutch A-9 between the steering column 2 and the double planetary gear mechanism 11 is powered off and closed, an electromagnetic clutch B-9 between the road sensing motor 8 and the steering column 2 is powered off, the road sensing motor 8 is kept in an off state, a driver inputs steering wheel rotation angle, the road sensing motor 8 does not work any more, the rotation angle motor 13 inputs an additional rotation angle through the double planetary gear mechanism 11, the steering wheel rotation angle and the additional rotation angle are overlapped to serve as an input angle of the gear rack mechanism 17, and meanwhile, the power assisting motor 20 drives the hydraulic module to provide power for a steering system.
3) In the electrohydraulic compound active steering mode, an electromagnetic clutch A-10 between a steering column 2 and a double planetary gear mechanism 11 is powered off and closed, an electromagnetic clutch B-9 between a road sensing motor 8 and the steering column 2 is powered on and closed, a driver inputs steering wheel rotation angle, the road sensing motor 8 does not provide a reaction force any more, but provides a force in the same direction, assistance is provided for a steering system, an additional rotation angle is provided for the steering system through the double planetary gear mechanism 11 by a rotation angle motor 13, and an assistance motor 20 drives a hydraulic module to provide assistance for the steering system.
4) In the electro-hydraulic steering mode, an electromagnetic clutch A-10 between the steering column 2 and the double-planet-row mechanism 11 is powered off and closed, an electromagnetic clutch B-9 between the road sensing motor 8 and the steering column 2 is powered off, the road sensing motor 8 and the corner motor 13 are kept in an off state and are not locked, and at the moment, the power-assisted motor 20 drives a steering system hydraulic module to provide power for steering, and a driver inputs steering wheel corners and provides auxiliary power.
5) In the mechanical steering mode, the electromagnetic clutch A-10 between the steering column 2 and the double-planet-row mechanism 11 is powered off and closed, the electromagnetic clutch B-9 between the road sensing motor 8 and the steering column 2 is powered off, the road sensing motor 8, the corner motor 13 and the power-assisted motor 20 are kept in an off state and are not locked, and at the moment, a steering wheel corner is input by a driver and power assistance is provided for a steering system.
The embodiment also provides a multimode control method of the multimode intelligent steering system with the active steering function, which comprises the following steps:
1) The driver selects a corresponding steering system mode (one of a drive-by-wire mode, an electro-hydraulic active steering mode, an electro-hydraulic composite active steering mode, an electro-hydraulic steering mode and a mechanical steering mode) through a rotary switch 25 and transmits a corresponding steering mode signal 26 to the ECU control module; the ECU control module comprises a signal processing module 32, an electromagnetic clutch module 27, a corner motor control module 36, a power-assisted motor control module 39, a road-sensing motor control module 42 and a composite steering power-assisted distribution module 45;
2) The ECU electromagnetic clutch module 27 sends a clutch switch signal 28 to the electromagnetic clutch B9 to enable the electromagnetic clutch B9 to be closed, and the road sensing motor 8 runs; the ECU electromagnetic clutch module 27 sends a switching signal 29 to the electromagnetic clutch a10 to turn it off; meanwhile, the ECU signal processing module 32 receives a vehicle speed signal 5 and a front wheel steering angle signal 30 obtained by a vehicle-mounted sensor, determines an ideal transmission ratio signal 33 according to a map of preset vehicle speed, front wheel steering angle and ideal transmission ratio (the map is a conventional technology, see literature: active front wheel steering control based on ideal transmission ratio), and determines an ideal power-assisted signal 34 according to the map of preset vehicle speed, front wheel steering angle and ideal hydraulic power-assisted; the ECU receives the vehicle speed signal 5 and the steering wheel angle signal 31 obtained by the vehicle-mounted sensor, and determines an ideal road feel signal 35 according to a preset vehicle speed-steering wheel angle-ideal road feel map.
The ideal transmission ratio signal 33, the steering wheel angle signal 31 and the front wheel angle signal 30 are input into the angle motor angle control module 36 together with the steering mode signal 26, whether the module is triggered or not is judged through the steering mode signal 26, the angle motor angle signal 37 is determined according to the ideal transmission ratio signal 33 and the steering wheel angle signal 31, the signal is transmitted to the angle motor 13, the actual angle signal 38 of the angle motor is used as a feedback signal, and a fuzzy PID control method (the control method is described in the literature: a general fuzzy logic control algorithm and application thereof) is adopted, so that the angle motor 13 can quickly track the angle signal transmitted by the angle control module, control the front wheel angle of a vehicle and realize the steering of the automobile.
The ideal power-assisted signal 34, the actual motor rotation speed signal 41 and the steering mode signal 26 are input into a power-assisted motor control module 39, whether the module is triggered or not is judged through the steering mode signal 26, the required rotation speed of the power-assisted motor 20 is calculated according to the ideal power-assisted signal 34, a power-assisted motor rotation speed signal 40 is obtained, the actual power-assisted motor rotation speed signal 41 is used as a feedback signal, and a rotation speed closed-loop vector control method (the control method is disclosed in the literature, the study of a motor controller of an electric hydraulic power-assisted steering system based on an electric motor coach) is adopted, so that the power-assisted motor can track a target rotation speed signal faster and more stably. Thus, the steering angle motor 13 drives the power-assisted motor 20 to further drive the hydraulic pump 21 to supply oil to the rotary valve 23, the rotary valve 23 is connected with two sides of the hydraulic cylinder 18, and a pressure difference is formed on two sides of the hydraulic cylinder 18 to provide hydraulic power for the drive-by-wire power-assisted steering system.
The ideal road feel signal 35, the torque sensor signal 44 and the steering mode signal 26 are input into the road feel motor control module 42, whether the module is triggered or not is judged through the steering mode signal 26, the proper feedback torque of the road feel motor 8 is obtained according to the ideal road feel signal 35, the torque sensor signal 44 obtained by the torque sensor A3 is used as a feedback signal, and H is adopted 2 /H ∞ Robust control method (see literature: EPS road feel hybrid H optimized based on genetic algorithm) 2 /H ∞ Control), the current signal 43 of the road sensing motor is controlled, so that the moment output by the road sensing motor 8 can better track the ideal road sensing signal 35, and meanwhile, the influence of external interference caused by vehicle body buffeting and the like on the running state of the automobile is effectively avoided.
3) When the selection mode is the electrohydraulic active steering mode, the ECU electromagnetic clutch module 27 sends a clutch switch signal 28 to the electromagnetic clutch B9 to disconnect the electromagnetic clutch B9, so that the road sensing motor 8 stops running; the ECU electromagnetic clutch module 27 sends a switching signal 29 to the electromagnetic clutch a10 to close it, and the double planetary gear mechanism 11 can be driven by the steering column 2.
The ECU signal processing module 32 receives the vehicle speed signal 5 and the front wheel steering angle signal 30 obtained by the vehicle-mounted sensor, determines an ideal transmission ratio signal 33 according to a preset vehicle speed-front wheel steering angle-ideal transmission ratio map, and determines an ideal power-assisted signal 34 according to a preset vehicle speed-front wheel steering angle-ideal hydraulic power-assisted map.
The ideal transmission ratio signal 33, the steering wheel angle signal 31 and the front wheel angle signal 30 are input into the angle motor angle control module 36 together with the steering mode signal 26, whether the module is triggered or not is judged through the steering mode signal 26, the target front wheel angle is determined according to the ideal transmission ratio signal 33 and the steering wheel angle signal 31, the target front wheel angle is differed from the steering wheel angle signal 31 (when the steering mode is electrohydraulic active steering, triggering is carried out), the angle motor angle signal 37 is determined through the angle difference, the signal is transmitted to the angle motor 13, the actual angle signal 38 of the motor is used as a feedback signal, a fuzzy PID control method is adopted, the angle motor 13 can quickly track the angle signal transmitted by the angle control module, an additional angle is input through the double planetary gear mechanism 11, the steering wheel angle and the additional angle are overlapped to be used as the input angle of the gear rack mechanism 17, and the front wheel angle is controlled, and the automobile steering is realized.
The ideal power-assisted signal 34, the actual rotating speed signal 41 of the power-assisted motor and the steering mode signal 26 are input into a power-assisted motor control module 39, whether the module is triggered or not is judged through the steering mode signal 26, the required rotating speed of the power-assisted motor 20 is calculated according to the ideal power-assisted signal 34, a power-assisted motor rotating speed signal 40 is obtained, the actual rotating speed signal 41 of the power-assisted motor is used as a feedback signal, and a rotating speed closed-loop vector control method is adopted to enable the power-assisted motor to track a target rotating speed signal faster and more stably. Thus, the steering motor 13 drives the assist motor 20 and thus the hydraulic pump 21 to assist the steering system.
4) When the selection mode is the composite steering mode, the ECU electromagnetic clutch module 27 sends a clutch switch signal 28 to the electromagnetic clutch 9 to enable the electromagnetic clutch to be closed, and then the road sensing motor 8 runs; the ECU electromagnetic clutch module 27 sends a switch signal 29 to the clutch 10 to enable the clutch to be closed, so that the input shaft of the double planetary gear set mechanism 11 operates; the driver inputs the steering wheel angle and the road sensing motor 8 no longer provides a reaction force but provides a force in the same direction, providing assistance to the steering system.
The ECU signal processing module 32 receives a vehicle speed signal 5 and a front wheel steering angle signal 30 obtained by a vehicle-mounted sensor, determines an ideal transmission ratio signal 33 according to a preset vehicle speed-front wheel steering angle-ideal transmission ratio map, and determines an ideal power-assisted signal 34 according to a preset vehicle speed-front wheel steering angle-ideal hydraulic power-assisted map; the ECU signal processing module 32 receives the vehicle speed signal 5 and the steering wheel angle signal 31 obtained by the vehicle-mounted sensor, and determines an ideal road feel signal 35 according to a preset map of vehicle speed, steering wheel angle and ideal road feel.
The ideal transmission ratio signal 33, the steering wheel angle signal 31 and the front wheel angle signal 30 are input into the angle motor angle control module 36 together with the steering mode signal 26, whether the module is triggered or not is judged through the steering mode signal 26, the target front wheel angle is determined according to the ideal transmission ratio signal 33 and the steering wheel angle signal 31, the target front wheel angle is different from the actual steering wheel angle signal 31 (when the steering mode is electrohydraulic composite active steering, the execution is triggered), the angle motor angle signal 37 is determined through the angle difference, the signal is transmitted to the angle motor 13, the actual angle signal 38 of the motor is used as a feedback signal, a fuzzy PID control method is adopted, the angle motor 13 can rapidly track the angle signal transmitted by the angle motor control module 36, the additional angle is provided through the double planetary gear 11, the front wheel angle of the vehicle is controlled, and the steering of the automobile is realized.
The ideal power-assisted signal 34 and the ideal road-feel signal 35 are input to a compound steering power-assisted distribution module 45 (the module is triggered only in the electrohydraulic compound active steering mode), the ideal power-assisted signal 34 and the ideal road-feel signal 35 are subjected to difference, 60% of the difference is used as a hydraulic ideal power-assisted signal 46, and the other 40% is used as a motor ideal power-assisted signal 47.
The hydraulic ideal power-assisted signal 46, the motor actual rotating speed signal 41 and the steering mode signal 26 are input into a power-assisted motor control module 39, whether the module is triggered or not is judged through the steering mode signal 26, the required rotating speed of the power-assisted motor 20 is calculated according to the ideal power-assisted signal 34, the power-assisted motor rotating speed signal 40 is obtained, the power-assisted motor actual rotating speed signal 41 is used as a feedback signal, and a rotating speed closed-loop vector control method is adopted to enable the power-assisted motor to track a target rotating speed signal faster and more stably. Thus, the steering motor 13 drives the assist motor 20 and thus the hydraulic pump 21 to assist the steering system.
The motor ideal power-assisted signal 47, the torque sensor signal 44 and the steering mode signal 26 are input into the road-sensing motor control module 42, whether the module is triggered or not is judged through the steering mode signal 26, the target power-assisted moment corresponding to the road-sensing motor 8 is obtained according to the motor ideal power-assisted signal 47, the torque sensor signal 44 obtained by the torque sensor A3 is used as a feedback signal, and H is adopted 2 /H ∞ Robust control method (see literature: EPS road feel hybrid H optimized based on genetic algorithm) 2 /H ∞ Control), control the current signal 43 of the road sensing motor, so that the power-assisted moment output by the road sensing motor 8 can lead a driver to obtain ideal steering road feel, and effectively prevent road surface interference, crosswind and the like from influencing the running state of the automobileIs a function of (a) and (b).
5) When the selection mode is the electro-hydraulic steering mode, the ECU electromagnetic clutch module 27 sends a clutch switch signal 28 to the electromagnetic clutch B9 to disconnect the electromagnetic clutch B9, and then the road sensing motor 8 stops running; the ECU electromagnetic clutch module 27 sends a switching signal 29 to the electromagnetic clutch a10 to close it, and the double row mechanism 11 is driven by the steering column 2, is driven by the driver to input the steering angle, and provides auxiliary assistance.
The ECU signal processing module 32 receives the vehicle speed signal 5 and the front wheel steering angle signal 30 obtained by the vehicle-mounted sensor, and determines an ideal assistance signal 34 according to a preset vehicle speed-front wheel steering angle-ideal hydraulic assistance map.
The ideal power-assisted signal 34, the actual motor rotation speed signal 41 and the steering mode signal 26 are input into a power-assisted motor control module 39, whether the module is triggered or not is judged through the steering mode signal 26, the required rotation speed of the power-assisted motor 20 is calculated according to the ideal power-assisted signal 34, a power-assisted motor rotation speed signal 40 is obtained, the actual motor rotation speed signal 41 is used as a feedback signal, and a vector control method of a rotation speed closed loop is adopted to enable the power-assisted motor 20 to track a target rotation speed signal faster and more stably. Thus, the steering motor 13 drives the assist motor 20 and thus the hydraulic pump 21 to assist the steering system. Other modules are not triggered in the electro-hydraulic steering mode.
6) When the selection mode is the mechanical steering mode, the ECU electromagnetic clutch module 27 sends a clutch switch signal 28 to the electromagnetic clutch B9 to open it, and sends a switch signal 29 to the electromagnetic clutch a10 to close it. The road sensing motor 8, the turning motor 13 and the power assisting motor 20 are not locked, and at the moment, the steering wheel turning angle is input by a driver and power assistance is provided for the steering system. All control modules are not triggered in the mechanical steering mode.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (1)
1. The control method of the multi-mode power-assisted steering system based on the steer-by-wire is characterized by comprising a steering mechanical module, an electro-hydraulic power-assisted module, an ECU control module, a rotary switch and an on-vehicle sensor; the steering mechanical module comprises a steering wheel and a steering column which are positioned in the vehicle body, one end of the steering column is connected with the steering wheel, and the other end of the steering column is connected with the electromagnetic clutch B; the electromagnetic clutch B and the electromagnetic clutch A are arranged on the steering column, and the electromagnetic clutch B is positioned between the steering wheel and the electromagnetic clutch A; the road sensing motor is connected with the electromagnetic clutch B; the corner motor is connected with a lower gear ring of the double-planetary-row mechanism through a worm gear mechanism, an output shaft of the double-planetary-row mechanism is connected with a gear rack mechanism, and a torque sensor B is arranged on the output shaft of the double-planetary-row mechanism; wheels are arranged at both ends of the steering tie rod; the electric hydraulic power-assisted module comprises a hydraulic oil tank, a hydraulic pump, a rotary valve and a hydraulic cylinder which are sequentially connected, the power-assisted motor is connected with the hydraulic pump, the overflow valve is connected with the hydraulic pump in parallel, and the hydraulic cylinder is arranged on the steering tie rod; the ECU control module comprises a signal processing module, an electromagnetic clutch module, a corner motor control module, a power-assisted motor control module, a road sensing motor control module and a composite steering power-assisted distribution module which are connected with each other; the ECU control module receives a vehicle speed signal, a yaw rate signal, a lateral acceleration signal, a torque sensor signal, a current signal and a corner signal sent by the vehicle-mounted sensor respectively; the rotary switch is connected with the ECU control module; the vehicle-mounted sensor comprises a vehicle speed sensor, a yaw rate sensor, a lateral acceleration sensor, a torque sensor A, a torque sensor B, a current sensor and a corner sensor; the torque sensor A is arranged on the steering column, and the current sensor is integrated in the road sensing motor;
the system has five modes of operation: the control method comprises a drive-by-wire steering mode, an electro-hydraulic active steering mode, an electro-hydraulic composite active steering mode, an electro-hydraulic steering mode and a mechanical steering mode, wherein the control method between the modes is as follows:
1) When a driver selects a steer-by-wire mode through a rotary switch, the electromagnetic clutch module sends a clutch switch signal to the electromagnetic clutch B to enable the electromagnetic clutch B to be closed, and the road sensing motor operates; the electromagnetic clutch module sends a switching signal to the electromagnetic clutch A to disconnect the electromagnetic clutch A; meanwhile, the signal processing module receives a vehicle speed signal and a front wheel steering angle signal which are obtained by the vehicle-mounted sensor, and determines an ideal transmission ratio signal and an ideal power-assisted signal; the signal processing module receives a vehicle speed signal and a steering wheel corner signal sent by the vehicle-mounted sensor and determines an ideal road feel signal;
the ideal transmission ratio signal, the steering wheel angle signal and the front wheel steering angle signal are input into a steering angle motor control module together with a steering mode signal, whether the module is triggered or not is judged through the steering mode signal, the steering angle signal of the steering angle motor is determined according to the ideal transmission ratio signal and the steering wheel angle signal, the signals are transmitted to the steering angle motor, the actual steering angle signal of the steering angle motor is used as a feedback signal, and the front wheel steering angle of the vehicle is controlled by adopting a fuzzy PID control method, so that the steering of the automobile is realized;
the ideal power-assisted signal, the actual rotating speed signal of the power-assisted motor and the steering mode signal are input into a power-assisted motor control module, whether the module is triggered or not is judged through the steering mode signal, the rotating speed signal of the power-assisted motor is obtained through calculation according to the ideal power-assisted signal, and the actual rotating speed signal of the power-assisted motor is used as a feedback signal; the power-assisted motor is driven to drive the hydraulic pump to supply oil to the rotary valve, so that hydraulic power is provided for the steering system;
the ideal road sensing signal, the torque sensor signal obtained by the torque sensor A and the steering mode signal are input into the road sensing motor controlThe module judges whether the module is triggered or not through a steering mode signal, obtains the feedback moment of the road sensing motor according to an ideal road sensing signal, takes a torque sensor signal obtained by the torque sensor A as a feedback signal, and adoptsThe robust control method controls the current signal of the road sensing motor;
2) When a driver selects an electro-hydraulic active steering mode through a rotary switch, the electromagnetic clutch module sends a clutch switch signal to the electromagnetic clutch B to disconnect the electromagnetic clutch B; the electromagnetic clutch module sends a switching signal to the electromagnetic clutch A to enable the electromagnetic clutch A to be closed;
the signal processing module receives a vehicle speed signal and a front wheel steering angle signal which are obtained by the vehicle-mounted sensor, and determines an ideal transmission ratio signal and an ideal power-assisted signal;
the ideal transmission ratio signal, the steering wheel angle signal and the front wheel angle signal are input to the angle motor control module together with the steering mode signal, whether the module is triggered or not is judged through the steering mode signal, the target front wheel angle is determined according to the ideal transmission ratio signal and the steering wheel angle signal, the target front wheel angle is differenced with the steering wheel angle signal, the angle motor angle signal is determined through the angle difference value, the angle motor angle signal is transmitted to the angle motor, the angle motor actual angle signal is used as a feedback signal, and a fuzzy PID control method is adopted; the additional rotation angle is input through the double-planet-row mechanism, the rotation angle of the steering wheel is overlapped with the additional rotation angle to serve as an input angle of the gear rack mechanism, and then the front wheel rotation angle of the vehicle is controlled, so that the steering of the vehicle is realized;
the method comprises the steps that an ideal power-assisted signal, an actual rotating speed signal of a power-assisted motor and a steering mode signal are input into a power-assisted motor control module, whether the module is triggered or not is judged through the steering mode signal, the rotating speed required by the power-assisted motor is calculated according to the ideal power-assisted signal, the rotating speed signal of the power-assisted motor is obtained, the actual rotating speed signal of the power-assisted motor is used as a feedback signal, a rotating speed closed-loop vector control method is adopted, and a hydraulic pump is driven to provide hydraulic power for a steering system through driving the power-assisted motor;
3) When a driver selects an electrohydraulic compound active steering mode through a rotary switch, the electromagnetic clutch module sends a clutch switch signal to the electromagnetic clutch B to enable the electromagnetic clutch B to be closed; the electromagnetic clutch module sends a switching signal to the electromagnetic clutch A to enable the electromagnetic clutch A to be closed;
the signal processing module receives a vehicle speed signal and a front wheel steering angle signal which are obtained by the vehicle-mounted sensor, and determines an ideal transmission ratio signal and an ideal power-assisted signal; the signal processing module receives a vehicle speed signal and a steering wheel angle signal obtained by the vehicle-mounted sensor and determines an ideal road feel signal;
the method comprises the steps that an ideal transmission ratio signal, a steering wheel angle signal and a front wheel angle signal are input to a steering angle motor control module together with a steering mode signal, whether the module is triggered or not is judged through the steering mode signal, a target front wheel angle is determined according to the ideal transmission ratio signal and the steering wheel angle signal, the target front wheel angle is different from an actual steering wheel angle signal, the steering angle motor angle signal is determined through an angle difference value, the signal is transmitted to a steering angle motor, the actual steering angle signal of the steering angle motor is used as a feedback signal, an additional steering angle is provided through a double planetary gear train mechanism by adopting a fuzzy PID control method, the front wheel angle of a vehicle is controlled, and the steering of the vehicle is realized;
the ideal power-assisted signal and the ideal road feel signal are input into a composite steering power-assisted distribution module, the ideal power-assisted signal and the ideal road feel signal are subjected to difference, 60% of the difference value is used as a hydraulic ideal power-assisted signal, and the other 40% is used as a motor ideal power-assisted signal;
the hydraulic ideal power-assisted signal, the actual rotating speed signal of the power-assisted motor and the steering mode signal are input into a power-assisted motor control module, whether the module is triggered or not is judged through the steering mode signal, the rotating speed required by the power-assisted motor is calculated according to the ideal power-assisted signal, the rotating speed signal of the power-assisted motor is obtained, and the actual rotating speed signal of the power-assisted motor is used as a feedback signal; the hydraulic pump is driven by driving the power-assisted motor to provide hydraulic power for the steering system;
the motor ideal power-assisted signal, the torque sensor signal obtained by the torque sensor A and the steering mode signal are input into a road sensing motor control module, and whether the module is triggered or not is judged through the steering mode signal; obtaining target power assistance corresponding to the road-sensing motor according to the ideal power assistance signal of the motorThe torque, which takes the torque sensor signal obtained by the torque sensor A as a feedback signal, is adoptedThe robust control method controls the current signal of the road sensing motor;
4) When a driver selects an electro-hydraulic steering mode through a rotary switch, the electromagnetic clutch module sends a clutch switch signal to the electromagnetic clutch B to disconnect the electromagnetic clutch B; the electromagnetic clutch module sends a switching signal to the electromagnetic clutch A to enable the electromagnetic clutch A to be closed;
the signal processing module receives a vehicle speed signal and a front wheel steering angle signal which are obtained by the vehicle-mounted sensor, and determines an ideal power-assisted signal;
the ideal power-assisted signal, the actual rotating speed signal of the power-assisted motor and the steering mode signal are input into a power-assisted motor control module, whether the module is triggered or not is judged through the steering mode signal, the rotating speed required by the power-assisted motor is calculated according to the ideal power-assisted signal, the rotating speed signal of the power-assisted motor is obtained, and the actual rotating speed signal of the power-assisted motor is used as a feedback signal; the hydraulic pump is driven by driving the power-assisted motor to provide hydraulic power for the steering system;
5) When the driver selects the mechanical steering mode through the rotary switch, the electromagnetic clutch module sends a clutch switch signal to the electromagnetic clutch B to disconnect the electromagnetic clutch B, and sends a switch signal to the electromagnetic clutch A to close the electromagnetic clutch A, and at the moment, the driver inputs the steering wheel angle and provides power for the steering system.
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