CN101269669A - Control method for electric power-assisted steering device with steering wheel corner computation and compensation - Google Patents
Control method for electric power-assisted steering device with steering wheel corner computation and compensation Download PDFInfo
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- CN101269669A CN101269669A CNA2007100271978A CN200710027197A CN101269669A CN 101269669 A CN101269669 A CN 101269669A CN A2007100271978 A CNA2007100271978 A CN A2007100271978A CN 200710027197 A CN200710027197 A CN 200710027197A CN 101269669 A CN101269669 A CN 101269669A
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Abstract
The invention relates to a control method with a steering wheel cornering calculation and compensating electro motion power-assisted turning machine. A tooth clamp is driven by a steering wheel to rotate, a Hall type sensor can induce the change of magnetic flow passing through the tooth clamp to generate corresponding pulse signals, and the pulses can be changed into regular square waves after being treated via a deformation circuit and can be sent to an electric control unit for treatment. The rotary direction of the steering wheel can be analyzed by the electric control unit according to torsional moment signals, and simultaneously, the positive and negative square waves can be accumulated to calculate the rotary angel of the steering wheel. The square wave signals can be numbered to calculate the rotary speed of the steering wheel according to the cornering and rotary speed of the steering wheel, the torsional moment signals of the steering wheel, vehicle speed signals, etc. to calculate the control current of the power-assisted motor to achieve the control aim with exactness and reliability.
Description
Technical field
The present invention relates to a kind of automobile assisted power steering method, especially a kind of electric power steering method.
Background technology
Servo-steering as its name suggests, is to assist chaufeur to do the automobile steering adjustment, and is certain for chaufeur alleviates the force intensity of use of beating bearing circle, servo-steering also certain effect on running safety, economy.
The servo steering system that disposes on the just present automobile roughly can be divided into two classes: (1) is a kind of to be the mechanical type hydraulic power steering system; (2) a kind of is the electro-hydraulic servo steering system.
One, mechanical type hydraulic power steering system
1 mechanical hydraulic power steering system is generally by component set-ups such as Hydraulic Pump, oil pipe, pressure flow control valve body, V-type drive belt, petrol storage tanks.
2 no matter whether car turns to, and this cover system all will be worked, and when turning to the speed of a motor vehicle low greatly, needs the bigger power of Hydraulic Pump output to obtain bigger power-assisted.So, also wasted resource to a certain extent.Drive such car, when low speed is turned in the time of especially, think that direction ratio is more heavy, the driving engine gas of also relatively requiring great effort.Again because the pressure of Hydraulic Pump is very big, also than being easier to damage force aid system.
Also have, the mechanical type hydraulic servo steering system is made up of Hydraulic Pump and pipeline and oil cylinder, and for keep-uping pressure, no matter whether need power steering, system is in running order always, and energy consumption is higher, and this also is a reason place of costing the source.
General economy car uses the many of mechanical-hydraulic force aid system.
Two, electro-hydraulic servo steering system
1 primary member: petrol storage tank, servo-steering control unit, motor-drive pump, steering box, servo-steering sensor etc., wherein servo-steering control unit and motor-drive pump are integral structures.
2 principle of work: the electro-hydraulic steering boost system has overcome the shortcoming of traditional hydraulic power-assisted steering system.The Hydraulic Pump that it adopts ends the dependence upon the dynamo belt direct drive, but adopts a motor-drive pump, and the state of the work that it is all is the perfect condition that is gone out according to calculated signals such as the moving velocity of vehicle, steering angles by electronic control unit.Briefly, when low speed turned to greatly, it is more high-power that electronic control unit drives electro-hydraulic pump at high speed running output, and it is laborsaving to make chaufeur beat direction; Automobile is when running at high speed, and hydraulic control unit drives the electro-hydraulic pump with lower speed running, be unlikely to influence spin at a high speed to need save a part of engine power simultaneously.
But above-mentioned servo steering system between in use long after, the situation of leakage of oil can take place in components aging, need change or repair it, cost is higher, otherwise the generation of leakage of oil can cause the waste of oil, is unfavorable for environmental protection.
Summary of the invention
The object of the present invention is to provide a kind of use stability and safety, the electric booster steering device control method of economical environment-protective.
The present invention achieves the above object by the following method:
It includes bearing circle, with bearing circle bonded assembly Steering gear, Steering gear connects the turbine and worm retarder, the turbine and worm retarder connects a power-transfer clutch, power-transfer clutch connects an assisted electric machine, the assisted electric machine connects an electronic control unit, calculating the corner of assisted electric machine and the sensor of rotating speed is connected with electronic control unit, Steering gear is provided with a torsion bar, torsion bar is connected with electronic control unit, the bearing circle rotation drives the Steering gear rotation, Steering gear drives the turbine and worm retarder and rotates, the rotation of sensor turbine and worm retarder, send signal to electronic control unit, torsion bar is judged the rotational angle and the rotating speed of bearing circle, and electronic control unit is according to the corner and the rotating speed of bearing circle, the torque signal of comprehensive torsion bar, vehicle speed signal is calculated the control current of assisted electric machine.
In the said method, sensor pack contain the fluted disc be located between power-transfer clutch and the turbine and worm retarder and with electronic control unit bonded assembly hall sensor, by the pulse that hall sensor is measured fluted disc, signal is sent in the electronic control unit.
In the said method, the impulse singla that hall sensor measures is by the shaping circuit shaping or send in the electronic control unit.
Owing to adopted said method, when chaufeur turns to, bearing circle drives the fluted disc rotation, hall sensor is sensed the variation by the magnetic flow of fluted disc, produce corresponding impulse singla, by becoming the square wave of standard after the shaping circuit processing, sending into electronic control unit handles, electronic control unit analyzes the rotation direction of bearing circle according to torque signal, simultaneously square-wave signal is carried out positive and negative accumulative total, calculate the turned angle of bearing circle, the square wave signal-count is calculated the rotating speed of bearing circle,, send and the steering wheel torque signal according to the corner and the rotating speed of bearing circle, vehicle speed signal etc. calculate the control current of assisted electric machine, to reach the purpose of accurate and reliable control.
Description of drawings
Fig. 1 is that band steering wheel angle of the present invention calculates and each member connection structure scheme drawing of compensation electric booster steering device control method;
Fig. 2 is that band steering wheel angle of the present invention calculates and compensation electric booster steering device control method signal control diagram of circuit.
The specific embodiment
In conjunction with illustrated in figures 1 and 2, a fluted disc that tests the speed (3) is installed between the power-transfer clutch (2) of electric booster steering device assist motor and worm type of reduction gearing (6), the pulse of measuring fluted disc (3) by hall-effect speed sensor (4) is converted to square-wave signal with this signal after by shaping circuit (5) and sends in ECU (9) unit.
During work, bearing circle (10) rotation drives the rotation of Steering gear (7), Steering gear (7) drives fluted disc (3) by worm and gear (6) and rotates, rotation by fluted disc (3) changes the magnetic flow in the field circuit of Hall element (4), the corresponding output of variation that Hall element (4) detects magnetic flow also changes thereupon, producing the concavo-convex corresponding voltage with the tooth of fluted disc (3) exports, by becoming the square wave of standard after shaping circuit (5) processing, send ECU (9) to handle, ECU (9) judges the rotation direction of bearing circle (10) and the size of the power that chaufeur applies by torsion bar (8), simultaneously square-wave signal is carried out positive and negative accumulative total, calculate the turned angle of bearing circle (10), the square wave signal-count is calculated the rotating speed of bearing circle (10), corner and rotating speed according to bearing circle (10), the torque signal of comprehensive torsion bar (8), vehicle speed signal etc. calculate the control current of assisted electric machine (1), to reach the purpose of accurate and reliable control.
Claims (3)
1. a band steering wheel angle calculates and compensation electric booster steering device control method, it is characterized in that: it includes bearing circle, with bearing circle bonded assembly Steering gear, Steering gear connects the turbine and worm retarder, the turbine and worm retarder connects a power-transfer clutch, power-transfer clutch connects an assisted electric machine, the assisted electric machine connects an electronic control unit, calculating the corner of assisted electric machine and the sensor of rotating speed is connected with electronic control unit, Steering gear is provided with a torsion bar, torsion bar is connected with electronic control unit, the bearing circle rotation drives the Steering gear rotation, Steering gear drives the turbine and worm retarder and rotates, the rotation of sensor turbine and worm retarder, send signal to electronic control unit, torsion bar is judged the rotational angle and the rotating speed of bearing circle, electronic control unit is according to the corner and the rotating speed of bearing circle, the torque signal of comprehensive torsion bar, and vehicle speed signal is calculated the control current of assisted electric machine.
2. band steering wheel angle as claimed in claim 1 calculates and compensation electric booster steering device control method, it is characterized in that: sensor pack contain the fluted disc be located between power-transfer clutch and the turbine and worm retarder and with electronic control unit bonded assembly hall sensor, by the pulse that hall sensor is measured fluted disc, signal is sent in the electronic control unit.
3. band steering wheel angle as claimed in claim 2 calculates and compensation electric booster steering device control method, it is characterized in that: the impulse singla that hall sensor measures is by the shaping circuit shaping or send in the electronic control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100271978A CN101269669A (en) | 2007-03-19 | 2007-03-19 | Control method for electric power-assisted steering device with steering wheel corner computation and compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100271978A CN101269669A (en) | 2007-03-19 | 2007-03-19 | Control method for electric power-assisted steering device with steering wheel corner computation and compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101269669A true CN101269669A (en) | 2008-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100271978A Pending CN101269669A (en) | 2007-03-19 | 2007-03-19 | Control method for electric power-assisted steering device with steering wheel corner computation and compensation |
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| CN (1) | CN101269669A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973311A (en) * | 2010-10-13 | 2011-02-16 | 株洲易力达机电有限公司 | Integral active electric power-assisted steering mechanical structure |
| CN102085860A (en) * | 2011-01-14 | 2011-06-08 | 力帆实业(集团)股份有限公司 | Automobile hydraulic power-assisted steering switching signal processing method |
| CN102295023A (en) * | 2011-06-18 | 2011-12-28 | 重庆长安汽车股份有限公司 | EPS (Electric Power Storage) power-assisted steering method and system suitable for pure electric vehicle automobile |
| CN102589577A (en) * | 2012-03-02 | 2012-07-18 | 北京经纬恒润科技有限公司 | Method and system for compensating location counting of magnetic density sensor |
| CN103303365A (en) * | 2013-05-15 | 2013-09-18 | 苏州震科汽车部件有限公司 | Electric power storage (EPS) vehicle motion control system of commercial vehicle |
| CN106794864A (en) * | 2014-10-09 | 2017-05-31 | 日本精工株式会社 | The control method of electric power-assisted steering apparatus, electric power-assisted steering apparatus and it is equipped with the vehicle of the electric power-assisted steering apparatus |
| CN107942402A (en) * | 2017-11-22 | 2018-04-20 | 中山市科力高自动化设备有限公司 | A kind of spring leaf detection device applied on bottom cover pressing machine |
| CN109747706A (en) * | 2019-01-15 | 2019-05-14 | 北京汽车股份有限公司 | Compensation method, system and the vehicle of power steering |
| CN111017006A (en) * | 2018-10-09 | 2020-04-17 | 株式会社捷太格特 | Steering device |
| CN112298341A (en) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | Vehicle and control method and control device of electric power steering system of vehicle |
-
2007
- 2007-03-19 CN CNA2007100271978A patent/CN101269669A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973311A (en) * | 2010-10-13 | 2011-02-16 | 株洲易力达机电有限公司 | Integral active electric power-assisted steering mechanical structure |
| CN102085860B (en) * | 2011-01-14 | 2013-04-03 | 力帆实业(集团)股份有限公司 | Automobile hydraulic power-assisted steering switching signal processing method |
| CN102085860A (en) * | 2011-01-14 | 2011-06-08 | 力帆实业(集团)股份有限公司 | Automobile hydraulic power-assisted steering switching signal processing method |
| CN102295023A (en) * | 2011-06-18 | 2011-12-28 | 重庆长安汽车股份有限公司 | EPS (Electric Power Storage) power-assisted steering method and system suitable for pure electric vehicle automobile |
| CN102589577B (en) * | 2012-03-02 | 2014-06-04 | 北京经纬恒润科技有限公司 | Method and system for compensating location counting of magnetic density sensor |
| CN102589577A (en) * | 2012-03-02 | 2012-07-18 | 北京经纬恒润科技有限公司 | Method and system for compensating location counting of magnetic density sensor |
| CN103303365A (en) * | 2013-05-15 | 2013-09-18 | 苏州震科汽车部件有限公司 | Electric power storage (EPS) vehicle motion control system of commercial vehicle |
| CN106794864A (en) * | 2014-10-09 | 2017-05-31 | 日本精工株式会社 | The control method of electric power-assisted steering apparatus, electric power-assisted steering apparatus and it is equipped with the vehicle of the electric power-assisted steering apparatus |
| CN106794864B (en) * | 2014-10-09 | 2019-04-23 | 日本精工株式会社 | Control method, electric power steering apparatus and the vehicle for being equipped with the electric power steering apparatus of electric power steering apparatus |
| CN107942402A (en) * | 2017-11-22 | 2018-04-20 | 中山市科力高自动化设备有限公司 | A kind of spring leaf detection device applied on bottom cover pressing machine |
| CN107942402B (en) * | 2017-11-22 | 2019-10-25 | 中山市科力高自动化设备有限公司 | A kind of spring leaf detection device applied on bottom cover pressing machine |
| CN111017006A (en) * | 2018-10-09 | 2020-04-17 | 株式会社捷太格特 | Steering device |
| CN109747706A (en) * | 2019-01-15 | 2019-05-14 | 北京汽车股份有限公司 | Compensation method, system and the vehicle of power steering |
| CN112298341A (en) * | 2019-07-30 | 2021-02-02 | 比亚迪股份有限公司 | Vehicle and control method and control device of electric power steering system of vehicle |
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Open date: 20080924 |