CN103121466B - Arc linear motor power-assisted steering system and road feel control method thereof - Google Patents
Arc linear motor power-assisted steering system and road feel control method thereof Download PDFInfo
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- CN103121466B CN103121466B CN201310057871.2A CN201310057871A CN103121466B CN 103121466 B CN103121466 B CN 103121466B CN 201310057871 A CN201310057871 A CN 201310057871A CN 103121466 B CN103121466 B CN 103121466B
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Abstract
The invention relates to an arc linear motor power-assisted steering system and a road feel control method thereof, wherein the arc linear motor power-assisted steering system comprises a steering mechanical unit, a corner motor and an electronic control unit ECU which are sequentially connected, and also comprises an arc linear motor, the arc linear motor comprises an arc linear motor primary and an arc linear motor secondary which are arranged in parallel, a steering output shaft in the steering mechanical unit is arranged in two sections, the two sections of the steering output shaft are respectively connected with the upper end and the lower end of the arc linear motor secondary through expansion connecting sleeves, the arc linear motor primary is simultaneously connected with the electronic control unit ECU, and the electronic control unit ECU is also connected with a vehicle-mounted optical sensor. The road feel control method comprises a real-time road condition and variable transmission ratio road feel correction step, a road feel outer ring control step and a road feel outer ring control step. The invention adopts the arc linear motor to directly provide the steering power assistance and can actively correct the steering road feel according to the road condition information and the vehicle running condition.
Description
Technical field
The present invention relates to a kind of servo steering system and road feel control method thereof, particularly a kind of arc linear motor servo steering system and road feel control method thereof, belong to technical field of electric device control.
Background technology
At present, the electric boosting steering system with variable ratio function has become the developing direction of automobile power steering system, and it provides power torque and additional rotation angle to realize servo-steering and active steering function simultaneously by assist motor and angle electrical machinery respectively.But the steer motor of existing variable ratio electric boosting steering system generally adopts dc rotating machine, need to be connected with steering shaft by turbine and worm or planet gear reducing mechanism, not only complex structure, and there is mechanical friction due to transmission device thus cause driving efficiency to reduce, rotational noise is large and dynamic response performance is poor.Simultaneously, the power steering strategy of current variable ratio electric boosting steering system is only according to the speed of a motor vehicle and steering wheel torque determination power torque, cannot revise power steering according to the change of real-time traffic information and transmitting ratio, also controlled reset cannot be carried out according to the travel conditions of vehicle to power steering, this likely can cause chaufeur to lose real steering feel, thus does the operation made mistake and cause accident to occur.
Summary of the invention
For solving the deficiencies in the prior art, a kind of arc linear motor that adopts is the object of the present invention is to provide directly to provide power steering, and can according to the arc linear motor servo steering system with variable ratio function of traffic information and traveling state of vehicle active correction steering feel and road feel control method thereof.
For achieving the above object, the present invention is achieved by the following technical solutions:
Arc linear motor servo steering system, comprise the steering mechanical unit that order is connected, angle electrical machinery and electronic control unit ECU, it is characterized in that, also comprise arc linear motor, it is elementary secondary with arc linear motor that described arc linear motor comprises the arc linear motor be set up in parallel, wherein, the output shaft that turns in described steering mechanical unit divides two sections of settings, two sections turn to output shaft to be connected respectively by the two ends up and down that expansion coupling sleeve and arc linear motor are secondary, and described arc linear motor elementary while be connected with electronic control unit ECU, and described electronic control unit ECU also connects a vehicle-mounted optical pickocff.
Described steering mechanical unit comprises steering handwheel, torque sensor, input sun wheel, satellite gear, gear ring, turns to output shaft, rack and pinion steering gear and wheel flutter, described steering handwheel, torque sensor, input sun wheel are linked in sequence, input sun wheel and turn to output shaft to carry out internal messing with the two ends up and down of satellite gear respectively, described gear ring is then arranged on the outside of satellite gear and carries out external toothing with satellite gear, the described output shaft that turns to is linked in sequence with rack and pinion steering gear, wheel flutter simultaneously, and described angle electrical machinery is connected with gear ring.
Described electronic control unit ECU comprises traffic information COMPREHENSIVE CALCULATING module, power-assisted correcting module and variable ratio and Power assisted control module, and described traffic information COMPREHENSIVE CALCULATING module, power-assisted correcting module are connected with variable ratio and Power assisted control sequence of modules.
The road feel control method of arc linear motor servo steering system, is characterized in that, comprising:
(1) real-time road and variable ratio road feel correction step:
Traffic information COMPREHENSIVE CALCULATING module collection yaw rate signal in electronic control unit ECU, lateral acceleration signal, the traffic information that longitudinal acceleration signal and vehicle-mounted optical pickocff detect, and calculate traffic information coefficient of correction by neural network algorithm and send to power-assisted correcting module in electronic control unit ECU, power-assisted correcting module is according to traffic information coefficient of correction, the variable ratio feedback signal of angle electrical machinery, vehicle speed signal obtains power-assisted corrected signal, and power-assisted corrected signal is sent to variable ratio and Power assisted control module, neural network learning signal is sent to traffic information COMPREHENSIVE CALCULATING module by power-assisted correcting module simultaneously, and the angular signal that sends according to torque sensor of described variable ratio and Power assisted control module and dtc signal, and yaw rate signal, vehicle speed signal and power-assisted corrected signal finally determine Power assisted control signal,
(2) road feel outer shroud rate-determining steps: outer shroud controls to adopt the rolling optimization H based on car load dynamic prediction model
2control, predicted by the Future movement state of car load dynamic prediction model to car load, be not completely cured according to arc linear motor servo steering system actual output to prediction output valve make correction, and then carry out new optimization, rolling optimization not only based on model, and utilizes feedback information to form closed-loop optimization;
Road feel outer shroud controls to be specially: Conventional torque deducts to be revised the feedback signal of correcting with model output feedack again after torque and subtract each other and obtain power torque, and power torque passes through H
2controller obtains reference current, car load dynamic prediction model exports theoretical yaw velocity and lateral acceleration according to reference current and predicts yaw velocity and lateral acceleration, superpose with prediction yaw velocity and lateral acceleration again after the yaw velocity of car load feedback and lateral acceleration subtract each other with theoretical yaw velocity and lateral acceleration, corrected by model output feedack and feed back to H
2controller, simultaneously H
2controller constantly carries out rolling optimization to the dynamic property of system in prediction time domain according to car load dynamic prediction model, determines optimum reference current, finally determines that the power-assisted of servo steering system exports and levels off to desirable power torque;
(3) road feel inner ring rate-determining steps:
Road feel inner ring controls to adopt the PID based on genetic algorithm optimization to control, genetic algorithm is according to the parameter of reference current and power torque determination PID controller, the power torque of arc linear motor is corrected by power-assisted output feedack and is superposed with reference current, actual current is exported through PID controller, actual current controls arc linear motor and exports power torque, and power torque superposes with dtc signal and realizes servo-steering.
The invention has the beneficial effects as follows:
(1) the present invention adopts arc linear motor to replace rotating machine, output shaft is turned to provide power steering without speed reduction gearing Direct driver, due to without intermediate link, so there is not the problems such as friction, backlass, structure is simple, reliable, driving efficiency is high, and the rigidity of steering swivel system increases, thus makes the dynamic response performance of system improve, and stability improves; The power-assisted input of motor is through deflector transmission simultaneously, and the maximum output torque that electrical motor requires is relatively little; Electrical motor can be arranged in operator's compartment, and working environment is better, low to seal request; Whole servo steering system and deflector arranged apart, therefore dismounting and maintenance work are easily carried out, and therefore the present invention can be widely used in minicar.
(2) the present invention is by detecting real-time road, can for freezing, wet and slippery, pitch, the different road surface such as earth and road traffic state use neural network algorithm to determine the most rational power torque, power steering is reduced on low adhesion value road surface, avoid chaufeur oversteer, the section large at vehicle flowrate increases power steering, make to turn to light, alleviate chaufeur working strength, the section that vehicle flowrate is little reduces power steering, steering handwheel is operated steady, and the sudden change of the steering wheel torque caused by steering gear ratio change is compensated, keep good steering feel, improve driving safety.
(3) the present invention carries out inner and outer ring control to power steering, and outer shroud controls to adopt the rolling optimization H based on car load dynamic prediction model
2control, this control method is made prediction by the Future movement state of car load dynamic prediction model to car load, be not completely cured according to system actual output to prediction output valve make correction, and then carry out new optimization, make rolling optimization not only based on model, and make use of feedback information, form closed-loop optimization, thus reach good Dynamic controlling effect and ensure system robustness.Compare traditional H
2control, this method timely according to the controller performance of the state adjustment System of system, can meet the robustness of system to disturbance on the one hand, turn avoid the conservative property of system on the other hand, makes system have good dynamic response performance.And inner ring controls to adopt the PID based on genetic algorithm optimization to control, the method uses genetic algorithm to be optimized PID controller parameter, to send out with pure with general process Tuning and compare, do not need to provide regulator parameter initial value, overcome the sensivity of simplex method to initial parameter initial value, and it is simple to have optimizing, fireballing advantage, power-assisted electric current can be controlled rapidly and accurately, make assist motor export rational assist torque.
Accompanying drawing explanation
Fig. 1 is the arc linear motor servo steering system constructional drawing with variable ratio function;
Fig. 2 is real-time road and the variable ratio road feel modification method block diagram of the arc linear motor servo steering system with variable ratio function;
Fig. 3 is the road feel inner and outer ring control method block diagram of the arc linear motor servo steering system with variable ratio function.
In figure, Main Reference Numerals implication is:
1, steering handwheel 2, electronic control unit ECU 3, torque sensor 4, input sun wheel
5, satellite gear 6, gear ring 7, angle electrical machinery 8, turn to output shaft
9, secondary 11, the expansion coupling sleeve of elementary 10, the arc linear motor of arc linear motor
12-rack and pinion steering gear 13, angular signal 14, dtc signal
15, yaw rate signal 16, lateral acceleration signal 17, longitudinal acceleration signal
18, vehicle speed signal 19, Power assisted control signal 20, power-assisted feedback signal
21, variable ratio feedback signal 22, variable ratio control signal
23, traffic information COMPREHENSIVE CALCULATING module; 24, variable ratio and Power assisted control module
25, power-assisted correcting module 26, traffic information coefficient of correction
27, neural network learning signal 28, power-assisted corrected signal
29, vehicle-mounted optical pickocff 30, traffic information
31, wheel flutter 32, H
2controller 33, car load dynamic prediction model
34, model output feedack rectification 35, PID controller 36, arc linear motor
37, genetic algorithm 38, power-assisted output feedack rectification 39, car load
40, Conventional torque 41, correction torque 42, power torque
43, reference current 44, prediction yaw velocity and lateral acceleration
45, theoretical yaw velocity and lateral acceleration 46, yaw velocity and lateral acceleration
47, actual current.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, concrete introduction is carried out to the present invention.
Fig. 1 is the arc linear motor servo steering system constructional drawing with variable ratio function.
As shown in Figure 1: arc linear motor servo steering system, comprise the steering mechanical unit that order is connected, angle electrical machinery 7, electronic control unit ECU2, arc linear motor, described arc linear motor comprises the arc linear motor be set up in parallel elementary 9 and arc linear motor secondary 10, wherein, described steering mechanical unit comprises steering handwheel 1, torque sensor 3, input sun wheel 4, satellite gear 5, gear ring 6, turn to output shaft 8, rack and pinion steering gear 12 and wheel flutter 31, described steering handwheel 1, torque sensor 3, input sun wheel 4 is linked in sequence, input sun wheel 4 and turn to output shaft 8 to carry out internal messing with the two ends up and down of satellite gear 5 respectively, described gear ring 6 is then arranged on the outside of satellite gear 5 and carries out external toothing with satellite gear 5, described turn to output shaft 8 simultaneously with rack and pinion steering gear 12, wheel flutter 31 is linked in sequence, and described angle electrical machinery 7 is connected with gear ring 6.
Wherein, describedly turn to output shaft 8 points two sections settings, two sections turn to output shaft 8 to be connected respectively by the two ends up and down of expansion coupling sleeve 11 and arc linear motor secondary 10, and described arc linear motor elementary 9 is connected with electronic control unit ECU2 simultaneously, and described electronic control unit ECU2 also connects a vehicle-mounted optical pickocff 29.
Torque sensor 3 obtains angular signal 13 and dtc signal 14, vehicle-mounted optical pickocff 29 obtains traffic information 30, electronic control unit ECU2 is according to angular signal 13, dtc signal 14, yaw rate signal 15, lateral acceleration signal 16, longitudinal acceleration signal 17, vehicle speed signal 18 determines Power assisted control signal 19 and variable ratio control signal 22, angle electrical machinery 7 drives satellite gear 5 to provide additional rotation angle according to variable ratio control signal 22, and variable ratio feedback signal 21 is fed back to electronic control unit ECU2, arc linear motor elementary 9 drives to be connected to according to Power assisted control signal 19 and turns to the arc linear motor on output shaft 8 secondary 10 to provide power steering, and power-assisted feedback signal 20 is fed back to electronic control unit ECU2, rack and pinion steering gear 12 drives wheel flutter 31 to turn an angle, make motor turning.
Fig. 2 is real-time road and the variable ratio road feel modification method block diagram of the arc linear motor servo steering system with variable ratio function.
As shown in Figure 2: described electronic control unit ECU2 comprises traffic information COMPREHENSIVE CALCULATING module 23, power-assisted correcting module 25 and variable ratio and Power assisted control module 24, described traffic information COMPREHENSIVE CALCULATING module 23, power-assisted correcting module 25 are connected with variable ratio and Power assisted control module 24 order.
And the road feel controlling party rule of arc linear motor servo steering system comprises:
Real-time road and variable ratio road feel correction step:
Traffic information COMPREHENSIVE CALCULATING module 23 in electronic control unit ECU2 collects yaw rate signal 15, lateral acceleration signal 16, the traffic information 30 that longitudinal acceleration signal 17 and vehicle-mounted optical pickocff 29 detect, and calculate traffic information coefficient of correction 26 by neural network algorithm and send to power-assisted correcting module 25 in electronic control unit ECU2, power-assisted correcting module 25 is according to traffic information coefficient of correction 26, the variable ratio feedback signal 21 of angle electrical machinery 7, vehicle speed signal 18 obtains power-assisted corrected signal 28, and power-assisted corrected signal 28 is sent to variable ratio and Power assisted control module 24, neural network learning signal 27 is sent to traffic information COMPREHENSIVE CALCULATING module 23 by power-assisted correcting module 25 simultaneously, and the angular signal 13 that sends according to torque sensor 3 of described variable ratio and Power assisted control module 24 and dtc signal 14, and yaw rate signal 15, vehicle speed signal 18 and power-assisted corrected signal 28 finally determine the Power assisted control signal 19 based on real-time road and variable ratio correction, control arc linear motor elementary 9 and provide power-assisted with arc linear motor secondary 10, make chaufeur obtain optimum steering feel.
Fig. 3 is the road feel inner and outer ring control method block diagram of the arc linear motor servo steering system with variable ratio function.
As shown in Figure 3: road feel outer shroud rate-determining steps: outer shroud controls to adopt the rolling optimization H based on car load dynamic prediction model
2control, predicted by the Future movement state of car load dynamic prediction model 33 pairs of car loads 39, be not completely cured according to arc linear motor servo steering system actual output to prediction output valve make correction, and then carry out new optimization, rolling optimization not only based on model, and utilizes feedback information to form closed-loop optimization;
Be specially: Conventional torque 40 deducts to be revised the feedback signal of to correct 34 after torque 41 again with model output feedack and subtract each other and obtain power torque 42, and power torque 42 passes through H
2controller 32 obtains reference current 43, car load dynamic prediction model 33 exports theoretical yaw velocity and lateral acceleration 45 according to reference current 43 and predicts yaw velocity and lateral acceleration 44, superpose with prediction yaw velocity and lateral acceleration 44 again after the yaw velocity of car load feedback and lateral acceleration 46 subtract each other with theoretical yaw velocity and lateral acceleration 45, constantly according to the actual output of system, correction is made to prediction output valve, then correct 34 by model output feedack and feed back to H
2controller 32, simultaneously H
2controller 32 constantly carries out rolling optimization to the dynamic property of system in prediction time domain according to car load dynamic prediction model 33, determine optimum reference current 43, finally determine that the power-assisted of servo steering system exports and level off to desirable power torque as much as possible, make steering boost system reach good Dynamic controlling effect and ensure system robustness.
Road feel inner ring rate-determining steps: road feel inner ring controls to adopt the PID based on genetic algorithm optimization to control, genetic algorithm 37 determines the parameter of PID controller 35 according to reference current 43 and power torque 42, the power torque 42 of arc linear motor 36 is corrected 38 by power-assisted output feedack and is superposed with reference current 43, actual current 47 is exported through PID controller 35, namely actual current 47 is exported quickly and accurately by the PID controller 35 after genetic algorithm 37 optimization, actual current 47 controls arc linear motor 36 and exports power torque 42, power torque 42 superposes with dtc signal 14 and realizes servo-steering.
The present invention adopts arc linear motor to replace rotating machine, output shaft is turned to provide power steering without speed reduction gearing Direct driver, due to without intermediate link, so there is not the problems such as friction, backlass, structure is simple, reliable, driving efficiency is high, and the rigidity of steering swivel system increases, thus makes the dynamic response performance of system improve, and stability improves; The power-assisted input of motor is through deflector transmission simultaneously, and the maximum output torque that electrical motor requires is relatively little; Electrical motor can be arranged in operator's compartment, and working environment is better, low to seal request; Whole servo steering system and deflector arranged apart, therefore dismounting and maintenance work are easily carried out, and therefore the present invention can be widely used in minicar.
Automobile travels in different traveling road conditions, the aligning torque of bearing circle can correspondingly change, the change of steering gear ratio simultaneously also can cause the sudden change of steering wheel torque, these factors can affect the steering feel of chaufeur greatly, chaufeur reasonably cannot be controlled vehicle, cause the generation of accident.The present invention is by detecting real-time road, can for freezing, wet and slippery, pitch, the different road surface such as earth and road traffic state use neural network algorithm to determine the most rational power torque, power steering is reduced on low adhesion value road surface, avoid chaufeur oversteer, the section large at vehicle flowrate increases power steering, make to turn to light, alleviate chaufeur working strength, the section that vehicle flowrate is little reduces power steering, steering handwheel is operated steady, and the sudden change of the steering wheel torque caused by steering gear ratio change is compensated, keep good steering feel, improve driving safety.
The present invention carries out inner and outer ring control to power steering, and outer shroud controls to adopt the rolling optimization H based on car load dynamic prediction model
2control, this control method is made prediction by the Future movement state of car load dynamic prediction model to car load, be not completely cured according to system actual output to prediction output valve make correction, and then carry out new optimization, make rolling optimization not only based on model, and make use of feedback information, form closed-loop optimization, thus reach good Dynamic controlling effect and ensure system robustness.Compare traditional H
2control, this method timely according to the controller performance of the state adjustment System of system, can meet the robustness of system to disturbance on the one hand, turn avoid the conservative property of system on the other hand, makes system have good dynamic response performance.And inner ring controls to adopt the PID based on genetic algorithm optimization to control, the method uses genetic algorithm to be optimized PID controller parameter, to send out with pure with general process Tuning and compare, do not need to provide regulator parameter initial value, overcome the sensivity of simplex method to initial parameter initial value, and it is simple to have optimizing, fireballing advantage, power-assisted electric current can be controlled rapidly and accurately, make assist motor export rational assist torque
The present invention is illustrated according to above-described embodiment, should be appreciated that above-described embodiment does not limit the present invention in any form, and all employings are equal to replacement or the technical scheme that obtains of equivalent transformation mode, all drop within protection scope of the present invention.
Claims (5)
1. arc linear motor servo steering system, comprise the steering mechanical unit that order is connected, angle electrical machinery and electronic control unit ECU, it is characterized in that, also comprise arc linear motor, it is elementary secondary with arc linear motor that described arc linear motor comprises the arc linear motor be set up in parallel, wherein, the output shaft that turns in described steering mechanical unit divides two sections of settings, two sections turn to output shaft to be connected respectively by the two ends up and down that expansion coupling sleeve and arc linear motor are secondary, and described arc linear motor elementary while be connected with electronic control unit ECU, and described electronic control unit ECU also connects a vehicle-mounted optical pickocff.
2. arc linear motor servo steering system according to claim 1, it is characterized in that, described steering mechanical unit comprises steering handwheel, torque sensor, input sun wheel, satellite gear, gear ring, turn to output shaft, rack and pinion steering gear and wheel flutter, described steering handwheel, torque sensor, input sun wheel is linked in sequence, input sun wheel and turn to output shaft to carry out internal messing with the two ends up and down of satellite gear respectively, described gear ring is then arranged on the outside of satellite gear and carries out external toothing with satellite gear, described turn to output shaft simultaneously and rack and pinion steering gear, wheel flutter is linked in sequence, and described angle electrical machinery is connected with gear ring.
3. arc linear motor servo steering system according to claim 1, it is characterized in that, described electronic control unit ECU comprises traffic information COMPREHENSIVE CALCULATING module, power-assisted correcting module and variable ratio and Power assisted control module, and described traffic information COMPREHENSIVE CALCULATING module, power-assisted correcting module are connected with variable ratio and Power assisted control sequence of modules.
4. the road feel control method of arc linear motor servo steering system, is characterized in that, comprising:
(1) real-time road and variable ratio road feel correction step:
Traffic information COMPREHENSIVE CALCULATING module collection yaw rate signal in electronic control unit ECU, lateral acceleration signal, the traffic information that longitudinal acceleration signal and vehicle-mounted optical pickocff detect, and calculate traffic information coefficient of correction by neural network algorithm and send to power-assisted correcting module in electronic control unit ECU, power-assisted correcting module is according to traffic information coefficient of correction, the variable ratio feedback signal of angle electrical machinery, vehicle speed signal obtains power-assisted corrected signal, and power-assisted corrected signal is sent to variable ratio and Power assisted control module, neural network learning signal is sent to traffic information COMPREHENSIVE CALCULATING module by power-assisted correcting module simultaneously, and the angular signal that sends according to torque sensor of described variable ratio and Power assisted control module and dtc signal, and yaw rate signal, vehicle speed signal and power-assisted corrected signal finally determine Power assisted control signal,
(2) road feel outer shroud rate-determining steps: outer shroud controls to adopt the rolling optimization H based on car load dynamic prediction model
2control, predicted by the Future movement state of car load dynamic prediction model to car load, be not completely cured according to arc linear motor servo steering system actual output to prediction output valve make correction, and then carry out new optimization, rolling optimization not only based on model, and utilizes feedback information to form closed-loop optimization;
(3) road feel inner ring rate-determining steps:
Road feel inner ring controls to adopt the PID based on genetic algorithm optimization to control, genetic algorithm is according to the parameter of reference current and power torque determination PID controller, the power torque of arc linear motor is superposed with reference current by power-assisted output feedack corrective current, actual current is exported through PID controller, actual current controls arc linear motor and exports power torque, and power torque superposes with dtc signal and realizes servo-steering.
5. the road feel control method of arc linear motor servo steering system according to claim 4, it is characterized in that, road feel outer shroud controls to be specially: Conventional torque deducts to be revised the feedback signal of correcting with model output feedack again after torque and subtract each other and obtain power torque, and power torque passes through H
2controller obtains reference current, car load dynamic prediction model exports theoretical yaw velocity and lateral acceleration according to reference current and predicts yaw velocity and lateral acceleration, superpose with prediction yaw velocity and lateral acceleration again after the yaw velocity of car load feedback and lateral acceleration subtract each other with theoretical yaw velocity and lateral acceleration, corrected by model output feedack and feed back to H
2controller, simultaneously H
2controller constantly carries out rolling optimization to the dynamic property of system in prediction time domain according to car load dynamic prediction model, determines optimum reference current, finally determines that the power-assisted of servo steering system exports and levels off to desirable power torque.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104843053B (en) * | 2014-07-04 | 2018-03-27 | 北汽福田汽车股份有限公司 | Steering gear, automobile steering system and the automobile of automobile steering system |
| CN105151117B (en) * | 2015-08-28 | 2017-08-04 | 南京航空航天大学 | A kind of Electro-Hydraulic Power Steering System and the Multipurpose Optimal Method based on the system |
| 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 |
| KR102657328B1 (en) * | 2016-11-23 | 2024-04-15 | 현대자동차주식회사 | Steering apparatus for steer by wire system |
| DE102017205516A1 (en) | 2017-03-31 | 2018-10-04 | Ford Global Technologies, Llc | Power steering for a motor vehicle and motor vehicle |
| CN107901979B (en) * | 2017-11-10 | 2020-02-28 | 南京双环电器股份有限公司 | Automobile electro-hydraulic active steering road feel control system and control method thereof |
| CN110758548B (en) * | 2018-07-27 | 2021-06-18 | 比亚迪股份有限公司 | Steering assist control method, vehicle, server, storage medium, and system |
| CN109664939B (en) * | 2019-01-08 | 2023-05-12 | 南京航空航天大学 | Drive-by-wire steering system and control method thereof |
| CN112331018B (en) * | 2020-11-04 | 2023-09-26 | 浙江天行健智能科技有限公司 | Steering wheel simulation system and modeling method thereof |
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Effective date of registration: 20160204 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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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 |