CN101722983A - Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof - Google Patents
Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof Download PDFInfo
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- CN101722983A CN101722983A CN201010018342A CN201010018342A CN101722983A CN 101722983 A CN101722983 A CN 101722983A CN 201010018342 A CN201010018342 A CN 201010018342A CN 201010018342 A CN201010018342 A CN 201010018342A CN 101722983 A CN101722983 A CN 101722983A
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Abstract
The invention relates to an electric power-assisted steering system with a variable transmission ratio and a method for controlling transmission ratio thereof, and belongs to an electric power-assisted steering system. A planetary gear mechanism and a steering motor are arranged between a torque sensor and a gear rack; and on the basis of completing the conventional electric power-assisted steering, the electric power-assisted steering system can realize the functions of variable transmission ratio control and active steering interference.
Description
Technical field
The present invention relates to electric boosting steering system, refer in particular to a kind of electric boosting steering system of variable-speed ratio, can realize variable ratio control and active steering intervention functions, and guarantee that the electric power steering road feel is unaffected.
Background technology
Electric boosting steering system is later-model, rising power steering system, and it has fully phased out hydraulic package, and total system is made up of steering-wheel torque sensor, car speed sensor, controller, assist motor and speed reduction gearing thereof etc.Groundwork is that controller is accepted steering-wheel torque signal and vehicle speed signal, after judgement and handling, exports control signal according to prior definite good assist characteristic, and the control motor is exported power torque.
Current domestic and international electric boosting steering system all adopts fixed drive ratio, yet fixed drive ratio is unfavorable for changing the performance of steering swivel system: it is heavy partially to occur steering handwheel under low speed easily; And under high speed, dangerous operating modes such as ovdersteering appear easily, there is hidden danger in the road-holding property of automobile.
Summary of the invention
For road-holding property and the travel safety that improves automobile, the present invention proposes the electric boosting steering system and the transmitting ratio control method thereof of variable-speed ratio, realizes servo-steering, variable ratio control, active steering intervention; The perfection that realizes vehicle safety and alerting ability is merged.
A kind of electric boosting steering system of variable-speed ratio, tooth bar that links to each other with steering handwheel by steering handwheel, by steering column and the torque sensor that is positioned at the steering handwheel below, also comprise the assist motor that links to each other with tooth bar by speed reduction gearing, also comprise the pitman arm that links to each other with tooth bar, also comprise electronic control unit ECU; It is characterized in that: on the steering column between torque sensor and the tooth bar, sun and planet gear is installed, this mechanism is made up of satellite gear, sun wheel, gear ring, and wherein gear ring links to each other with steer motor, sun wheel links to each other with steering column, satellite gear links to each other with torque sensor.
A kind of transmitting ratio control method of utilizing the electric boosting steering system of above-mentioned described variable-speed ratio is characterized in that:
The angular signal of rotary angle transmitter acquisition, the dtc signal that torque sensor obtains, the yaw velocity signal that yaw-rate sensor obtains, the side-sway acceleration signal that the lateral acceleration sensor obtains are passed to electronic control unit ECU; Electronic control unit ECU sends first control signal according to these signals to steer motor, utilize steer motor on the one hand, provide additional rotation angle by sun and planet gear to bearing circle, thereby realize the active steering intervention, after utilizing steer motor hand-wheel torque to be carried out the transmitting ratio conversion on the other hand by sun and planet gear, become through the hand-wheel torque after the variable ratio conversion, offer tooth bar again;
The gear ratio signal that electronic control unit ECU beams back according to steer motor, the angular signal that rotary angle transmitter obtains, the dtc signal that torque sensor obtains, the yaw velocity signal that yaw-rate sensor obtains, side-sway acceleration signal and assist motor feedback signal that the lateral acceleration sensor obtains, send second control signal to assist motor, the power torque that assist motor provides through speed reduction gearing slow down increase turn round after, form the control power torque, the control power torque is superposeing on the tooth bar with through the hand-wheel torque after the variable ratio conversion, drive front-wheel steering jointly by pitman arm, realize electrical power-assisted steering function.
Adopt the present invention to increase sun and planet gear and steer motor between torque sensor and rack-and-gear, electric boosting steering system can be finished on the basis of original electric power steering, realizes variable ratio control and active steering intervention functions.
This transmission device is controlled by steer motor, and it can realize the variable-speed ratio function: steerage gear is smaller when low speed, to reduce the number of turns that steering handwheel rotates, improves the steering flexibility of automobile; Steerage gear is bigger when high speed, to improve the stability and the safety of vehicle.In addition, this transmission device can be by the Stability Control of steering engagement realization to vehicle.
Automobile for alleviating the chaufeur burden, reaches good ease of steering when low speed driving, should there be bigger transmitting ratio in system; And when high speed,, obtaining good steering feel simultaneously in order to ensure driving safety, should there be less transmitting ratio in system.Therefore, in electric boosting steering system, realize the variable-speed ratio function, can carry out the active steering intervention, the perfection that realizes motor turning portability and steering feel is merged, and the safety and the alerting ability of automobile organically can also be merged, be a kind of desirable steering swivel system, have broad application prospects.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
The electric boosting steering system constructional drawing of a kind of variable-speed ratio of Fig. 1.
Fig. 2 transmitting ratio control unit ECU implements control flow chart.
Mark among the figure: 1. steering handwheel, 2. torque sensor, 3. steer motor, 4. satellite gear, 5. steering column, 6. gear ring, 7. assist motor, 8. speed reduction gearing, 9. tooth bar, 10. pitman arm, 11. front-wheels, 12. electronic control unit ECU, 13. angular signal, 14. dtc signals, 15. first control signals, 16. second control signal, 17. the yaw velocity signal, 18. side-sway acceleration signals, 19. gear ratio signal, 20. assist motor feedback signal, 21. power torque, 22. control power torques, 23. through the hand-wheel torque after the variable ratio conversion, 24. steering handwheel is moment initiatively, 25. additional rotation angles.
The specific embodiment
As shown in Figure 1, a kind of electric boosting steering system of variable-speed ratio, tooth bar 9 that links to each other with steering handwheel 1 by steering handwheel 1, by steering column 5 and the torque sensor 2 that is positioned at 1 side under the steering handwheel, also comprise the assist motor 7 that links to each other with tooth bar 9 by speed reduction gearing 8, also comprise the pitman arm 10 that links to each other with tooth bar 9, also comprise electronic control unit ECU12; It is characterized in that: on the steering column between torque sensor 2 and the tooth bar 9, sun and planet gear is installed, this mechanism is made up of satellite gear 4, sun wheel 5, gear ring 6, and wherein: gear ring 6 links to each other with steer motor 3, sun wheel links to each other with the steering column 5 that is positioned at the sun and planet gear below, satellite gear 4 links to each other with the torque sensor 2 that is positioned at bearing circle 1 below.
As shown in Figure 2, a kind of electric boosting steering system transmission ratio-variable control method of variable-speed ratio is: when chaufeur rotates steering handwheel 1, angular signal 13 with the rotary angle transmitter acquisition, the dtc signal 14 that torque sensor 2 obtains, the yaw velocity signal 17 that yaw-rate sensor obtains, the side-sway acceleration signal 18 that the lateral acceleration sensor obtains passes to electronic control unit ECU12, electronic control unit ECU12 sends first control signal 15 for steer motor 3 according to these signals, promptly by sun and planet gear satellite gear 4, sun wheel 5, gear ring 6 provides additional rotation angle 25, the active angle mutual superposition of additional rotation angle 25 and bearing circle 1, thus realize variable ratio control and active steering intervention; The gear ratio signal 19 that electronic control unit ECU12 beams back according to steer motor 3, the angular signal 13 that rotary angle transmitter obtains, the dtc signal 14 that torque sensor 2 obtains, the yaw velocity signal 17 that yaw-rate sensor obtains, side-sway acceleration signal 18 and assist motor feedback signal 20 that the lateral acceleration sensor obtains, send second control signal 16 for assist motor 7, determine assist motor 7 power-assisted sizes, the power torque 21 that assist motor provides through speed reduction gearing 8 slow down increase turn round after, superposeing on the tooth bar 9 with through the hand-wheel torque 23 after the variable ratio conversion, turn to by the control pitman arm 10 common front-wheels 11 that drive, realize electrical power-assisted steering function.
Claims (2)
1. the electric boosting steering system of a variable-speed ratio, tooth bar (9) that links to each other with steering handwheel (1) by steering handwheel (1), by steering column (5) and the torque sensor (2) that is positioned at steering handwheel (1) below, also comprise the assist motor (7) that links to each other with tooth bar (9) by speed reduction gearing (8), also comprise the pitman arm (10) that links to each other with tooth bar (9), also comprise electronic control unit ECU (12); It is characterized in that: on the steering column (5) between torque sensor (2) and the tooth bar (9), sun and planet gear is installed, this mechanism is made up of satellite gear (4), sun wheel, gear ring (6), and wherein gear ring (6) links to each other with steer motor (3), sun wheel links to each other with steering column (5), satellite gear (4) links to each other with torque sensor (2).
2. transmitting ratio control method of utilizing the electric boosting steering system of the described variable-speed ratio of claim 1 is characterized in that:
The angular signal (13) of rotary angle transmitter acquisition, the dtc signal (14) that torque sensor (2) obtains, the yaw velocity signal (17) that yaw-rate sensor obtains, the side-sway acceleration signal (18) that the lateral acceleration sensor obtains are passed to electronic control unit ECU (12); Electronic control unit ECU (12) sends first control signal (15) for steer motor (3) according to these signals, utilize steer motor (3) additional rotation angle (25) to be provided for bearing circle (1) on the one hand by sun and planet gear, thereby realize the active steering intervention, after utilizing steer motor (3) steering handwheel active moment (24) to be carried out the transmitting ratio conversion on the other hand, become through the hand-wheel torque (23) after the variable ratio conversion by sun and planet gear; Offer tooth bar (9) again;
The gear ratio signal (19) that electronic control unit ECU (12) beams back according to steer motor (3), the angular signal (13) that rotary angle transmitter obtains, the dtc signal (14) that torque sensor (2) obtains, the yaw velocity signal (17) that yaw-rate sensor obtains, side-sway acceleration signal (18) and assist motor feedback signal (20) that the lateral acceleration sensor obtains, send second control signal (16) for assist motor (7), the power torque (21) that assist motor (7) provides through speed reduction gearing (8) slow down increase turn round after, form control power torque (22), control power torque (22) upward with through the hand-wheel torque (23) after the variable ratio conversion superposes at tooth bar (9), drive front-wheel (11) jointly by pitman arm (10) and turn to, realize electrical power-assisted steering function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010018342A CN101722983A (en) | 2010-01-14 | 2010-01-14 | Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010018342A CN101722983A (en) | 2010-01-14 | 2010-01-14 | Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof |
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| CN101722983A true CN101722983A (en) | 2010-06-09 |
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| CN201010018342A Pending CN101722983A (en) | 2010-01-14 | 2010-01-14 | Electric power-assisted steering system with variable transmission ratio and method for controlling transmission ratio thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870302A (en) * | 2010-06-25 | 2010-10-27 | 南京航空航天大学 | Vehicle semi-active steering control device |
| CN101941459A (en) * | 2010-07-06 | 2011-01-12 | 南京航空航天大学 | Electric drive power assisted steering system capable of performing drive ratio variation control by motor and control method thereof |
| 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 |
| CN102087801A (en) * | 2010-12-31 | 2011-06-08 | 北京宣爱智能模拟技术有限公司 | System and method for automatic re-centering and force feedback of steering wheel in vehicle driving simulator |
| CN102180193A (en) * | 2011-04-22 | 2011-09-14 | 南京航空航天大学 | Motor-driven power-assisted steering system with duly-variable transmission ratio and control method thereof |
| CN103738395A (en) * | 2014-01-15 | 2014-04-23 | 厦门金龙旅行车有限公司 | New-energy bus electronically-controlled hydraulic-powered steering control system and control method thereof |
| CN104210536A (en) * | 2013-05-30 | 2014-12-17 | 株式会社万都 | Electric power steering apparatus for vehicle |
| CN104210537A (en) * | 2013-05-30 | 2014-12-17 | 株式会社万都 | Electric power steering apparatus for vehicle |
| CN107933684A (en) * | 2017-11-22 | 2018-04-20 | 山东理工大学 | The electronic automatic steering system of agricultural machinery |
| WO2018102956A1 (en) * | 2016-12-05 | 2018-06-14 | 徐州重型机械有限公司 | Active steering system for use in hoisting machinery, and hoisting machinery |
| CN111055913A (en) * | 2019-11-29 | 2020-04-24 | 徐州重型机械有限公司 | Crane getting-on operation control steering device and method |
-
2010
- 2010-01-14 CN CN201010018342A patent/CN101722983A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870302A (en) * | 2010-06-25 | 2010-10-27 | 南京航空航天大学 | Vehicle semi-active steering control device |
| CN101941459A (en) * | 2010-07-06 | 2011-01-12 | 南京航空航天大学 | Electric drive power assisted steering system capable of performing drive ratio variation control by motor and control method thereof |
| 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 |
| CN102087801A (en) * | 2010-12-31 | 2011-06-08 | 北京宣爱智能模拟技术有限公司 | System and method for automatic re-centering and force feedback of steering wheel in vehicle driving simulator |
| CN102180193A (en) * | 2011-04-22 | 2011-09-14 | 南京航空航天大学 | Motor-driven power-assisted steering system with duly-variable transmission ratio and control method thereof |
| CN102180193B (en) * | 2011-04-22 | 2012-11-07 | 南京航空航天大学 | Motor-driven power-assisted steering system with duly-variable transmission ratio and control method thereof |
| CN104210537B (en) * | 2013-05-30 | 2016-09-14 | 株式会社万都 | Vehicle electric servo steering device |
| CN104210536A (en) * | 2013-05-30 | 2014-12-17 | 株式会社万都 | Electric power steering apparatus for vehicle |
| CN104210537A (en) * | 2013-05-30 | 2014-12-17 | 株式会社万都 | Electric power steering apparatus for vehicle |
| CN103738395A (en) * | 2014-01-15 | 2014-04-23 | 厦门金龙旅行车有限公司 | New-energy bus electronically-controlled hydraulic-powered steering control system and control method thereof |
| CN103738395B (en) * | 2014-01-15 | 2016-08-31 | 厦门金龙旅行车有限公司 | A kind of integral new-energy passenger electric-controlled hydraulic power-assisted steering control system and control method |
| WO2018102956A1 (en) * | 2016-12-05 | 2018-06-14 | 徐州重型机械有限公司 | Active steering system for use in hoisting machinery, and hoisting machinery |
| CN107933684A (en) * | 2017-11-22 | 2018-04-20 | 山东理工大学 | The electronic automatic steering system of agricultural machinery |
| CN111055913A (en) * | 2019-11-29 | 2020-04-24 | 徐州重型机械有限公司 | Crane getting-on operation control steering device and method |
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Open date: 20100609 |