CN103448792A - Dual drive power-assisted steering system and control method for hybrid electric vehicle - Google Patents
Dual drive power-assisted steering system and control method for hybrid electric vehicle Download PDFInfo
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- CN103448792A CN103448792A CN2013103913430A CN201310391343A CN103448792A CN 103448792 A CN103448792 A CN 103448792A CN 2013103913430 A CN2013103913430 A CN 2013103913430A CN 201310391343 A CN201310391343 A CN 201310391343A CN 103448792 A CN103448792 A CN 103448792A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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Abstract
The invention relates to a dual drive power-assisted steering system and control method for a hybrid electric vehicle. The steering system comprises a dual drive hydraulic system and a control system, wherein the control system comprises a control module for collecting the vehicle speed and the engine speed, and the control module is connected with a steering motor controller in a controlled way. The hydraulic system is formed by an HPS (Hydraulic Power System) and an EHPS (Electric Hydraulic Power System), and the flow rate of a power-assisted steering device is controlled by the sum flow rate of the HPS and the EHPS, so that the efficient utilization of the power-assisted steering system is realized; in addition, the slower the speed of the overall vehicle is, the larger the assisting power supplied by the steering system is when a steering wheel is turned; the higher the speed is, the smaller the assisting power supplied by the steering system is when the steering wheel is turned. The magnitude of steering assisting power of the system is determined by actual working conditions, so that the power assistance according to the speed and power assistance according to needs are realized, the manipulation convenience is provided, and meanwhile, the situation that when turning the steering wheel, a driver feels that the steering wheel floats because a power-assisted steering drive mechanism supplies extra power to the steering system is avoided.
Description
Technical field
The present invention relates to two servo steering system and control methods of driving of hybrid electric vehicle.
Background technology
Electric hydraulic power-assisted steering system; be called for short EHPS; be widely used on new-energy automobile; especially pure electric automobile and deep hybrid power automobile; only have and applied EHPS; car load could the safe and reliable engine idle stopping function of realizing, reaches higher energy-conservation purpose and is unlikely to car load and loses power steering.Current independent traditional HPS shortcoming: can not meet engine shutdown, advantage: there is the traditional advantage that reliability is high; The shortcoming of independent EHPS: poor reliability, particularly electronic partial fault adopt " factory of walking lamely back " pattern, car load manual steering system, advantage: shut down and create conditions for engine idle, can be applied to any electrobus.Because EHPS is not mature enough, fault rate is high, reliability is not as good as HPS(engine hydraulic power-assisted), current hybrid power system vehicles is carried out to car load operation FMEA analysis to electric hydraulic power-assisted steering oil pump and steer motor controller, the safety problem preventive that face are: once " electric powered steering hydraulic power-assisted steering oil pump " or " steer motor controller " occurs providing for deflector the fault of steering hydraulic power-assisted, entire car controller stops power output immediately, and vehicle can stop slowly.The potential safety hazard of above measure is: vehicle is being turned simultaneously road conditions while being again the extraordinary circumstances such as descending, if Vehicular turn fault now, car load speed can not lower immediately, occurs the hidden danger of major traffic accidents.
Existing two servo steering system that drives, as CN202193115U, a kind of dual-pump hydraulic assistant steering device is disclosed, comprise the driving engine power steerig pump, the motor steering oil pump, the oil circuit of two oil pumps connects power-assisted steering device by shuttle type valve, realize that hybrid vehicle is suitable for respectively different power operated hydraulic power-assisted steering structures ([0005] section the 6th when fuel oil travels with pure motor driving, 7 row), although this document is provided with two kinds of oil circuits that driven by different dynamic, but when being difference, two kinds of oil circuits work, use driving engine power steerig pump power-assisted when fuel oil, in the pure motor steering oil pump power-assisted that adopts when electronic, the utilization ratio of whole system is very low, and as described in the preceding paragraph, also there is the problem that turns to thrashing under failure condition.
Summary of the invention
Consider HPS and EHPS advantage separately, therefore develop two servo steering systems that drive.The purpose of this invention is to provide a kind of two servo steering system and control methods of driving of hybrid electric vehicle, in order to solve prior art, lack corresponding control policy, the system utilization ratio is low, the problem of poor stability.
For achieving the above object, the solution of the present invention comprises:
A kind of two power-assisted steering control methods that drive of hybrid electric vehicle, comprise the steps:
Jointly for power-assisted steering device, provide hydraulic booster by engine-driven driving engine power steerig pump with by the motor steering oil pump that steer motor drives; Control the steer motor rotation speed n
2', make to turn to interflow amount q with speed
s=n
1* v
1+ n
2* v
2, n
2' with n
2, n
1' with n
1the proportionate relationship that there is respectively setting; q
s=f (n'); F (n') for set with fast power-assisted function, when n ' increases, f(n ') reduce when n ' reduces, f(n ') increase; In above step, v
1for the nominal discharge capacity of driving engine power steerig pump, n
1for the rotating speed of driving engine power steerig pump, n
2for the rotating speed of motor steering oil pump, v
2for the nominal discharge capacity of motor steering oil pump, n '
1for driving engine real-time rotate speed, n
2' be the steer motor real-time rotate speed, n ' is the real-time speed of a motor vehicle.
Two servo steering systems that drive of hybrid electric vehicle, comprise two drive hydraulic system principles and control system, and described control system comprises for gathering the control module of the speed of a motor vehicle and engine speed, this control module control linkage steer motor controller.
Described control module is entire car controller; Entire car controller connecting engine ECU, to gather engine rotational speed signal; Entire car controller connects a car speed sensor, to gather vehicle speed signal.
Described entire car controller also connects the CMS of the high-voltage energy storage device that is used to steer motor (7) power supply, to gather the high-voltage energy storage device electric quantity signal; Entire car controller also connects brake pedal, to gather speed-slackening signal.
Hydraulic efficiency pressure system of the present invention consists of HPS and EHPS, the flow of power-assisted steering device is controlled by the interflow amount (being the interflow amount of flow and the motor steering oil pump of driving engine power steerig pump) of HPS and EHPS, thereby realized the efficient utilization of servo steering system, in addition, due to car load speed when lower, beat the power-assisted that the required steering swivel system of bearing circle provides larger; Speed is higher, beat the power-assisted that the required steering swivel system of bearing circle provides less, the power steering size of system of the present invention is determined by actual condition, thereby realized with fast power-assisted with needing power-assisted, provide the manipulation portability to avoid the power steering driver train, for steering swivel system provides unnecessary power-assisted chaufeur to make to beat bearing circle, unstable sensation is arranged simultaneously.
The accompanying drawing explanation
Fig. 1 is that system of the present invention forms constructional drawing;
Fig. 2 is the system construction drawing with associated control signal of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
As Fig. 1, two drive hydraulic system principles comprise power-assisted steering device 14, the driving engine power steerig pump 10 driven by driving engine 8, the motor steering oil pump 9 driven by steer motor 7, the oil outlet of driving engine power steerig pump 10, motor steering oil pump 9 connects respectively two oil inlets of a threeway 19 by corresponding check valve 12,13, the oil outlet of threeway 19 connects power-assisted steering device 14; Also comprise oil return and the oil circuit of the part of pumping, the power-assisted steering device oil outlet connects petrol storage tank 11, and petrol storage tank 11 is the oil pumping mouth of connecting engine power steerig pumps 10, motor steering oil pump 9 respectively, between oil pumping mouth and petrol storage tank, also is provided with another threeway 20.Power-steering bearing circle mechanical driving part also comprises the parts such as transmission shaft and steering drag link 15, angle deflector 16, steering column 17, universal-joint etc. 18, bearing circle 19, and this part belongs to prior art, irrelevant with improvement of the present invention, does not repeat them here.
Two driving servo steering systems take full advantage of HPS and EHPS advantage separately, energy-conservation and reliable; Realize the reasonable and smooth-going switching of HPS and the EHPS of two driving servo steering systems, guaranteed car load manipulation portability and traveling comfort, studied and formulated rational control policy.
Servo steering system of the present invention, improved control system, and its control system comprises for gathering the control module of the speed of a motor vehicle and engine speed, this control module control linkage steer motor controller.
Corresponding control method is as follows:
Jointly for power-assisted steering device, provide hydraulic booster by engine-driven driving engine power steerig pump with by the motor steering oil pump that steer motor drives; Control the steer motor rotation speed n
2', make to turn to interflow amount q with speed
s=n
1* v
1+ n
2* v
2, n
2' with n
2, n
1' with n
1there is respectively the proportionate relationship of setting (if directly drive n
2' with n
2, n
1' with n
1equate respectively); q
s=f (n'); F (n') for set with fast power-assisted function, when n ' increases, f (n') reduces, when n ' reduces, f (n') increase; In above step, v
1for the nominal discharge capacity of driving engine power steerig pump, n
1for the rotating speed of driving engine power steerig pump, n
2for the rotating speed of motor steering oil pump, v
2for the nominal discharge capacity of motor steering oil pump, n '
1for driving engine real-time rotate speed, n
2' be the steer motor real-time rotate speed, n ' is the real-time speed of a motor vehicle.
Consider flow and the loss in efficiency of whole oil circuit, therefore actual interflow amount and the resultant pressure provided all is greater than the real-time needed flow of car load deflector and pressure.Interflow amount and the resultant pressure of EHPS and HPS must meet:
A. the interflow amount is sufficient in real time: q
0'≤q
1'+q
2'.
B. resultant pressure need to satisfy condition in real time: P
0'≤P
1'+P
2', concrete size relation need to be determined according to actual conditions.
Wherein: q
0', q
1', q
2' be respectively the real-time traffic of deflector, driving engine power steerig pump, motor steering oil pump; P
0', P
1', P
2' be respectively the real-time pressure of deflector, driving engine power steerig pump, motor steering oil pump.
C. in addition, maximum pressure need to satisfy condition: P
1>=P
0, P
2>=P
0, P
0, P
1, P
2be respectively the maximum pressure of deflector driving engine power steerig pump, motor steering oil pump.
Above-mentioned with fast power-assisted function q
s=f (n') should guarantee to be slightly larger than the q under corresponding operating mode under certain operating mode (the specific speed of a motor vehicle)
0', f (n') can artificially set as required, such as the function that is set as a negative slope.Move the needed deflector real-time traffic of steering swivel system q under a certain specific operation
0' and P
0' be definite value, n
2' with n
1' become the linear function relation, due to n
1' relevant to engine speed, not controlled, control object of the present invention is n
2', for the steer motor controller, by controlling the real-time current I ' of steer motor, realize steer motor is carried out to speed governing.When car speed increases/reduces, needed total power-assisted reduces/increases, i.e. q
s=f (n') reduces/increases, simultaneously according to f (n') and n '
1, in conjunction with formula q
s=n
1* v
1+ n
2* v
2, determine needed steer motor pump speed n
2, according to the real-time current I ' of steer motor, control steer motor real-time rotate speed n
2', thereby control two power-assisted sizes that drive steering boost system.
The most hybrid-power bus has all adopted driving engine rapid starting/stopping technology, and purpose is for better energy-conservation.But driving engine will stop just having to adopt EHPS, and do not take full advantage of the advantage of HPS.Two control policy that drives servo steering system of the present invention; can be understood as the combination of EHPS and HPS; engine idle is shut down and is adopted EHPS, and adopting traditional HPS is the advantage that takes full advantage of efficiency height and failure rate is low, and it can reduce the energy consumption of steering swivel system to greatest extent.Combine the advantage of EHPS and HPS.
The city bus average ground speed generally is no more than 50km/h, now engine speed is left back at general 1500r/min, overflow does not appear in the driving engine power steerig pump that driving engine directly drives, degradation of energy do not occur, so bus has adopted traditional HPS to have more the energy-conservation and high advantage of reliability.The energy source of EHPS is more than once conversion again, and energy conversion efficiency reduces.So the present invention is more suitable for bus.Pass through the collection of city bus road conditions and detailed calculating: the driving engine power steerig pump (efficiency is 85%) that driving engine directly drives is higher than the efficiency of motor steering oil pump (efficiency is 73%), because the more than once conversion of the energy of motor power steerig pump in hybrid power public transport, thereby efficiency is lower than HPS.(the conventional steering system capacity transforms: driving engine → oil pump, electrohydraulic steering system Conversion of Energy: driving engine → ISG electrical generator → high-voltage energy storage device → steer motor → oil pump).
The city bus average ground speed generally is no more than 50km/h, so the HPS power steerig pump almost seldom reaches overflow situation, and therefore two to drive servo steering systems to be applied to city bus be energy-conservation; When engine speed is low, hour, EHPS supplements as power steering the servo-steering that HPS provides.
Two driving servo steering system mode of operations are divided into four kinds and turn to driving condition:
1. under the engine shutdown state, by steer motor individual drive steering swivel system;
2. during engine work, by driving engine individual drive steering swivel system;
3. pure electricity drives steering swivel system progressively to switch to engine drive;
4. the engine drive steering swivel system progressively drives switching to pure electricity.
Above-mentioned control module can adopt independent control, as a kind of optimal way, can directly adopt entire car controller 2, as shown in Figure 1, 2, entire car controller connecting engine ECU, because ECU itself can obtain engine rotational speed signal, entire car controller can directly obtain engine rotational speed signal; Entire car controller connects a car speed sensor 1, thereby realizes the collection of vehicle speed signal.Car speed sensor 1 can adopt the car speed sensor of coder or other types.
On the basis of above control method, can also be further perfect, add the control to the high-voltage energy storage device for the steer motor power supply, according to high pressure electric weight and speed-slackening signal, control the power division of steering swivel system, improved the energy recovery rate of car load and the stable and reliability of braking.For detecting the electric weight of high-voltage energy storage device, can be similar to judgement electric weight (following mode) by detecting voltage, for more accurate, also can adopt other to detect the mode of electric weight.
The management system of CMS(high-voltage energy storage device, there is voltage, electric weight, the functions such as temperature detection protection) high-voltage energy storage device voltage detected and reach 90%(according to a suitable threshold value of concrete control policy setting) time, while the feedback braking electric power signal having been detected (entire car controller detects the brake pedal signal) simultaneously, the motor steering oil pump is as a high pressure dissipative cell, control the startup of motor steering oil pump, preferentially use electric energy, avoid the electric energy that feeds back to accumulator (such as super capacitor) to be filled, during braking, electricity is stopped insensitive, this kind of special mode and operating mode are specially adapted to car load lower long slope road conditions, when the accumulator electric energy is full of electricity because of the lower long slope feedback, steer motor starts, the electric energy of many feedbacks (exceeding the high-voltage energy storage device capacity and the electric energy of feedback) supplements the electric energy that steer motor consumes, purpose is the traveling comfort that has strengthened the car load braking, also eliminated: because high-voltage energy storage device is full of the electricity energy, reclaim the insensitive phenomenon that (electricity is stopped) interruption causes the braking electricity to be stopped.Specified otherwise: (if unnecessary power-assisted energy now is provided, consuming in the overflow mode).When CMS detects high-voltage energy storage device voltage and is less than 90%, while the feedback braking electric power signal having been detected simultaneously, control steer motor start and stop and rotating speed according to Energy Saving Strategy and above-mentioned two control policy of servo steering system that drives, according to four kinds of type of drive, control the power division of power steering.Improving the control policy main purpose that this special operation condition is corresponding is; utilize two servo steering systems that drive can bring following advantage: outside guaranteeing vehicle security; mechanical energy while to greatest extent car load being braked is converted into electrical power storage to high-voltage energy storage device; more Electronmotive Force is used for to car load master motorized motions; extend the floor time of driving engine; reduce the consumption of fuel of driving engine, contribute to energy-conservation.And the stable and reliability that has improved energy recovery rate and braking.
In order to implement above method, as Fig. 2 has provided embodiment, entire car controller also connects the CMS4 of the high-voltage energy storage device that is used to the steer motor power supply, to gather high-voltage energy storage device 5 electric quantity signals; Entire car controller also connects brake pedal, to gather speed-slackening signal.
Two driving servo steering systems have double effects; therefore Strategy Design has failure mode to control function: under failure mode; be that the electronic part of car load or EHPS are if there is fault; according to control policy; driving engine immediate cancel idle stop again recovers the servo-steering function in 200ms, now turns to and switches to traditional HPS fully; being unlikely to car load does not have servo-steering and has an accident, such as guaranteeing that under the limping pattern car load normally has power steering.
Claims (4)
1. two power-assisted steering control methods that drive of a hybrid electric vehicle, is characterized in that, comprises the steps:
Jointly for power-assisted steering device, provide hydraulic booster by engine-driven driving engine power steerig pump with by the motor steering oil pump that steer motor drives;
Control the steer motor rotation speed n
2', make to turn to interflow amount q with speed
s=n
1* v
1+ n
2* v
2, n
2' with n
2, n
1' with n
1the proportionate relationship that there is respectively setting; q
s=f (n'); F (n') for set with fast power-assisted function, when n ' increases, f(n ') reduce when n ' reduces, f(n ') increase;
In above step, v
1for the nominal discharge capacity of driving engine power steerig pump, n
1for the rotating speed of driving engine power steerig pump, n
2for the rotating speed of motor steering oil pump, v
2for the nominal discharge capacity of motor steering oil pump, n '
1for driving engine real-time rotate speed, n
2' be the steer motor real-time rotate speed, n ' is the real-time speed of a motor vehicle.
2. implement the claims two servo steering systems that drive of the hybrid electric vehicle of 1 described control method, comprise two drive hydraulic system principles and control system, it is characterized in that, described control system comprises for gathering the control module of the speed of a motor vehicle and engine speed, this control module control linkage steer motor controller.
3. two servo steering systems that drive of hybrid electric vehicle according to claim 2, is characterized in that, described control module is entire car controller; Entire car controller connecting engine ECU, to gather engine rotational speed signal; Entire car controller connects a car speed sensor, to gather vehicle speed signal.
4. two servo steering systems that drive of hybrid electric vehicle according to claim 3, is characterized in that, described entire car controller also connects the CMS of the high-voltage energy storage device that is used to steer motor (7) power supply, to gather the high-voltage energy storage device electric quantity signal; Entire car controller also connects brake pedal, to gather speed-slackening signal.
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|---|---|---|---|
| CN2013103913430A CN103448792A (en) | 2013-08-30 | 2013-08-30 | Dual drive power-assisted steering system and control method for hybrid electric vehicle |
| PCT/CN2014/085292 WO2015027916A1 (en) | 2013-08-30 | 2014-08-27 | Dual-drive power-assisted steering system of hybrid power vehicle and control method |
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|---|---|---|---|
| CN2013103913430A CN103448792A (en) | 2013-08-30 | 2013-08-30 | Dual drive power-assisted steering system and control method for hybrid electric vehicle |
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| CN103448792A true CN103448792A (en) | 2013-12-18 |
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| WO (1) | WO2015027916A1 (en) |
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| CN104670305A (en) * | 2015-03-19 | 2015-06-03 | 安徽江淮汽车股份有限公司 | Electric power steering control method and control system for HEV (Hybrid Electric Vehicle) |
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| CN112238892A (en) * | 2019-07-19 | 2021-01-19 | 郑州宇通客车股份有限公司 | Steering system based on EPS and EHPS and control method thereof |
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| WO2015027916A9 (en) | 2016-01-07 |
| WO2015027916A1 (en) | 2015-03-05 |
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