CN103754256B - A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern - Google Patents
A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern Download PDFInfo
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- CN103754256B CN103754256B CN201410034279.5A CN201410034279A CN103754256B CN 103754256 B CN103754256 B CN 103754256B CN 201410034279 A CN201410034279 A CN 201410034279A CN 103754256 B CN103754256 B CN 103754256B
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Abstract
The present invention relates to and a kind of there is adjustable the electronlmobil steering swivel system and the control method that turn to pattern.Comprise the mechanical steering module, electric power steering module and the steering-by-wire module that are arranged on Steering gear respectively, turn to two motors of miniature gears, three magnetic clutchs etc. to form, be respectively used to mechanical steering, steering-by-wire, electric power steering isotype, control method mainly comprises the steps: 1) system initialization; 2) ECU turns to pattern startup to turn to Schema control accordingly according to chaufeur is selected; 3) Schema control is turned to; 4) steering swivel system Failure Detection and Fault-Tolerent Control; The invention has the beneficial effects as follows: same automobile has Altitude control alerting ability under the prerequisite with simple structure, realizes the switching of driving model; During certain motor et out of order, switch to Steering gear assistance type electric power steering pattern or miniature gears assistance type assisted electric servo-steering pattern or manual steering mode, improve vehicle handling stability, reliability and fault-tolerant ability.
Description
Technical field
The present invention relates to a kind of steering swivel system and control method, particularly a kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern.
Background technology
Automobile steering system and vehicle active safety closely related, be called as " lifeline of hot-short " and security personnel part.The development phase such as automobile steering system experience mechanical steering system, hydraulic power-assist steering system, electric boosting steering system (ElectricPowerSteering, EPS), steering-by-wire (Steering – by-Wire, SBW) system.Initial development be mechanical steering system, the vehicle that quality is large is existed to the drawback of hard steering.Present stage application more widely hydraulic power-assist steering system turns to light, but there is the shortcoming that high speed steering is unstable, road feel can not be optimized and revised along with the speed of a motor vehicle.
In view of mechanical steering system, hydraulic power-assist steering system exist above-mentioned drawback, the electric boosting steering system developed nearly ten years utilizes motor to provide power steering, there is provided suitable power-assisted size under the different speed of a motor vehicle, meet preferably low speed rotation to light, have in certain steering effort sense, whole vehicle speed range there is the requirements such as good road feel at a high speed.But because electric boosting steering system and the common shortcoming of traditional steering swivel system such as mechanical steering system, hydraulic power-assist steering system are to there is mechanical connection between steering handwheel and wheel flutter, thus the ratio of steering angle ratio and steering wheel angle and steering wheel angle is fixing substantially, can not change flexibly with the speed of a motor vehicle, thus there is the contradiction turning to " gently " and " spirit ".Wire-controlled steering system is disconnected the mechanical connection between steering handwheel and wheel flutter, and steering angle ratio changes flexibly with the speed of a motor vehicle, and satisfactory solving turns to the contradiction of " gently " and " spirit ", is rising steering swivel system.
The Patents announced proposes structure, the control method of independent electric boosting steering system or wire-controlled steering system, but electric boosting steering system and wire-controlled steering system are not applied to steering swivel system simultaneously, have that steering-by-wire pattern, electric power steering pattern etc. are multiple turns to pattern.
Such as, what the patent " a kind of electric power steering transmission device and electric boosting steering system " (China Patent Publication No.: CN102556146A) announced solved that existing worm gearing carries out that servodrive brings turns to delayed and overtime, that bearing circle feel is excessively poor technical matters, the moving displacement exported from tooth bar and speed reduce, be conducive to slowing down and increase square, solve and make chaufeur turn to light problem.Shortcoming is that steering angle ratio can not change with the speed of a motor vehicle.During patent employing steering-by-wire pattern of the present invention, steering angle ratio can change with the speed of a motor vehicle, realizes active steering and controls, improve vehicle handling stability.
Electric boosting steering system, line traffic control servo steering system that the patent announced " electric boosting steering system, line traffic control servo steering system and comprise its vehicle " (China Patent Publication No.: CN102774416A) invents include power-assisted regulable control module, for setting the ratio driven between torque and motor power torque and sending motor power-assisted regulating command extremely described electronic control unit according to this ratio.Driving is felt all right, and be suitable for the driving sensation requirement of different road conditions and/or different navigating mate, drive safety and driver comfort etc. improve greatly.But do not relate to the conversion of electric power steering, steering-by-wire pattern.And patent of the present invention proposes to realize the multiple novel steering system turning to pattern such as electric power steering pattern, steering-by-wire pattern, adopt during electric power steering pattern and there is the good advantage of Assist Characteristic of Electric Power Steering System; When adopting steering-by-wire pattern, then having cornering properties can with the advantage of speed of a motor vehicle adjustment.
The electric boosting steering system that the patent announced " merging the electric boosting steering system of active steering function " (China Patent Publication No.: CN1749081) merges active steering function can improve to travel and is being separated adhesion value road surface, road-holding property by the vehicle of large Lateral Wind, brakeing during cornereing or turning acceleration, but the control alerting ability of steering wheel angle, comfort feature are far away from wire-controlled steering system.And during patent employing steering-by-wire pattern of the present invention, it is flexible, convenient that steering wheel angle controls, and be disconnected the mechanical connection between steering handwheel and wheel flutter, the road feel of adjustable optimization can be provided to chaufeur by motor.
Patent " control method for automobile steer-by-wire system " (China Patent Publication No.: CN102320326A) announced proposes a kind of low speed driving and turns to light, sensitive; Run at high speed stable, road feel clearly for the control method of automobile steer-by-wire system.But turn to the switching of pattern when not proposing steering-by-wire mode failures even.Patent of the present invention proposes a kind of structure and control method by turning to the switching of pattern to keep motor turning ability when losing efficacy based on automatically controlled steering swivel system.
In a word, in prior art, nothing has three kinds of adjustable electronlmobil steering swivel system and control methods turning to pattern such as mechanical steering, steering-by-wire, electric power steering.
Summary of the invention
Object of the present invention is exactly in view of the foregoing defects the prior art has, there is provided a kind of and there is adjustable the electronlmobil steering swivel system and the control method that turn to pattern, chaufeur realizes three kinds of adjustable patterns that turn to such as mechanical steering, steering-by-wire, electric power steering easily by button, same automobile has Altitude control alerting ability under the prerequisite with simple structure, realizes the switching of driving style.
Have the adjustable electronlmobil steering swivel system turning to pattern, its technical scheme is: comprise EPS, SBWECU(1), trouble diagnosing ECU(2), power module (3), first motor (6), EPS, SBW is with magnetic clutch (7), worm drive retarder (8), decelerator worm (8A), retarder worm gear (8B), universal-joint (9), turn to miniature gears (10), steering handwheel (11), first steering shaft (12A), second steering shaft (12B), 3rd steering shaft (12C), steering wheel angle torque sensor (13), worm drive retarder (14), worm screw (14A), worm gear (14B), second motor (15), magnetic clutch (16), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft (19), turn to miniature gears (20), wheel flutter (21), steering rack (22), motor-drive circuit (23), motor-drive circuit (24), rack displacement sensor (25),
Steering handwheel (11) and the first steering shaft (12A) are with thin spline joint, and the first steering shaft (12A) above installs the steering wheel angle torque sensor (13) for the angle and level of torque and direction measuring steering wheel rotation, worm drive retarder (14) comprises worm screw (14A), worm gear (14B), worm gear (14B) and the second steering shaft (12B) are with spline joint, magnetic clutch (16) is installed between the second motor (15) and worm screw (14A), magnetic clutch (16), steering wheel angle torque sensor (13) and EPS, SBWECU(1) be all that wire connects between, EPS, SBWECU(1) combination that control signal controls magnetic clutch (16) is sent, released state, when magnetic clutch (16) is in bonding state, second motor (15) drives worm screw (14A) to rotate, when magnetic clutch (16) is in released state, second motor (15) and worm screw (14A) disconnect and being mechanically connected, the signal transmission of steering wheel angle torque sensor (13) is to EPS, SBWECU(1), second motor (15) and motor-drive circuit (23), motor-drive circuit (23) and EPS, SBWECU(1) between be all that wire is connected, EPS, SBWECU(1) send pulse-width modulation PWM signal to motor-drive circuit (23), realize the driving of the second motor (15).
Wherein, mechanical steering and electric power steering magnetic clutch (17) are installed between the second steering shaft (12B) and the 3rd steering shaft (12C), mechanical steering and electric power steering magnetic clutch (17) and EPS, SBWECU(1) be that wire connects between, EPS, SBWECU(1) combination that control signal controls described mechanical steering and electric power steering magnetic clutch (17) is sent, released state, when mechanical steering and electric power steering magnetic clutch (17) are in bonding state, second steering shaft (12B) and the 3rd steering shaft (12C) connect as one, when mechanical steering and electric power steering magnetic clutch (17) are in released state, second steering shaft (12B) and the 3rd steering shaft (12C) disconnect and being mechanically connected, 3rd steering shaft (12C) is connected by universal-joint (18) with steering gear input shaft (19), turns to miniature gears (20) to engage with steering rack (22).
In addition, between the decelerator worm (8A) of the first motor (6) and worm drive retarder (8), EPS, SBW magnetic clutch (7) is installed, EPS, SBW magnetic clutch (7) and EPS, SBWECU(1) between be that wire is connected, EPS, SBWECU(1) send combination, released state that control signal controls described EPS, SBW magnetic clutch (7), when EPS, SBW magnetic clutch (7) is in bonding state, the first motor (6) drives decelerator worm (8A) to rotate, when being in released state, first motor (6) and decelerator worm (8A) disconnect and being mechanically connected, decelerator worm (8A) engages with retarder worm gear (8B), axis serrated vertical, retarder worm gear (8B) output shaft is connected by universal-joint (9) with turning between miniature gears (10) input shaft, miniature gears (10) is turned to engage with steering rack (22), steering rack (22) passes through pull bar, steering swivels etc. realize left, the rotation of right steering wheel (21), thus realize Vehicular turn, rack displacement sensor (25) is arranged on steering rack (22) upper detection rack displacement value, rack displacement sensor (25) and EPS, SBWECU(1) wire connects, the signal transmission of rack displacement sensor (25) is to EPS, SBWECU(1).
What the present invention mentioned a kind ofly has the adjustable control method turning to the electronlmobil steering swivel system of pattern, mainly comprises the steps:
1) system initialization, comprises the initialization such as micro controller system analogue to digital conversion port, timer of ECU;
2) detect that chaufeur is selected turns to pattern, chaufeur is delivered to EPS, SBWECU(1 turning to model selection interface (5) button result), EPS, SBWECU(1) judge that chaufeur is selected and turn to pattern after, start and turn to Schema control accordingly;
3) Schema control is turned to accordingly;
4) steering swivel system Failure Detection and Fault-Tolerent Control process.
Preferably, step 3) turns to Schema control accordingly, comprises 3 kinds of situations:
Situation 1: if carry out manual steering mode control, then EPS, SBWECU(1) send magnetic clutch control signal respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16), magnetic clutch (17) combines, magnetic clutch (7) is separated, magnetic clutch (16) is separated, first motor (6), the second motor (15) do not rotate, and rely on chaufeur hand-power to turn to;
Situation 2: if carry out electric power steering Schema control, then EPS, SBWECU(1) magnetic clutch control signal is sent respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW is with magnetic clutch (7), magnetic clutch (16), mechanical steering and electric power steering magnetic clutch (17) combine, EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines, ECU1 controls the first motor (6) and rotates, realize the power-assisted of miniature gears (10), second motor (15) rotates, realize the power-assisted of Steering gear,
Situation 3: if carry out steering-by-wire Schema control, then EPS, SBWECU(1) send magnetic clutch control signal respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16), mechanical steering is separated with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines, ECU1 controls the first motor (6) and rotates, realization turns to driving, second motor (15) rotates, and realizes steering handwheel road feel feedback.
Preferably, in situation 2, the control method of electric power steering pattern is mainly magnetic clutch control algorithm and power steering algorithm, and power steering algorithm comprises top level control algorithm and lower floor's control algorithm, and key step is as follows:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, sends magnetic clutch control signal control mechanical steering and is all combined with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16);
Step b: the top level control algorithm of power steering algorithm obtains the current target value of the second motor (15) and the current target value of the first motor (6) according to vehicle speed signal, steering-wheel torque signal;
Step c: lower floor's control algorithm of power steering algorithm carries out the control of the second motor (15) and the first motor (6), deviation according to the current target value of the second motor (15) and the current actual value of the second motor (15) carries out PID control, send the motor-drive circuit (23) of pulse-width modulation PWM signal control second motor (15), second motor (15) drives worm drive retarder (14), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft is delivered to and turns to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), according to the current target value of the first motor (6), PID control is carried out with the deviation of the current actual value of the first motor (6), send the motor-drive circuit (24) of pulse-width modulation PWM signal control first motor (6), first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22).
Preferably, in situation 3, the control method of steering-by-wire pattern comprises magnetic clutch control algorithm, steer arithmetic and road feel algorithm three kinds of algorithms, and steer arithmetic and road feel algorithm respectively comprise again top level control algorithm and lower floor's control algorithm, and key step is as follows:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, mechanical steering is separated with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines to send the control of magnetic clutch control signal;
Step b: the top level control algorithm of steer arithmetic is according to vehicle speed signal, steering wheel angle signal obtains steering wheel angle expected value, the deviation of the steering wheel angle actual value that lower floor's control algorithm is converted to according to steering wheel angle expected value and rack displacement actual value and deviation variation rate carry out fuzzy-adaptation PID control, by the parameter of fuzzy control Tuning PID Controller, send the motor-drive circuit (24) of pulse-width modulation PWM signal control first motor (6), first motor (6) rotates, first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
Step c: the top level control algorithm of road feel algorithm is according to vehicle speed signal, steering wheel angle signal obtains the current target value of the second motor (15) for steering handwheel feedback force, lower floor's control algorithm carries out PID control according to the deviation of the current actual value of the current target value of the second motor (15) and the second motor (15), send the motor-drive circuit (23) of pulse-width modulation PWM signal control second motor (15), second motor (15) rotates, second motor (15) drives coaxial worm screw to rotate, worm screw (14A) engages with worm gear (14B), the deceleration realizing worm drive retarder (14) increases to be turned round, the upper steering handwheel resisting moment of steering handwheel (11) is acted on by steering shaft (12), the road feel that chaufeur is certain is provided.
Preferably, the process of step 4) steering swivel system Failure Detection and Fault-Tolerent Control comprises 2 kinds of situations:
Situation 1: current is electric power steering pattern, comprises again 3 sub cases:
During the situation 1a: the first motor (6) et out of order, enter Steering gear assisted electric servo-steering pattern, second motor (15) works, second motor (15) drives worm drive retarder (14), mechanical steering and electric power steering magnetic clutch (17), universal-joint (18), steering gear input shaft to be delivered to and turns to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle;
During the situation 1b: the second motor (15) et out of order, turn to miniature gears assistance type electric power steering pattern, first motor (6) works, motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle;
Situation 1c: the first motor (6), the second motor (15) all et out of order time, EPS, SBW magnetic clutch (7), magnetic clutch (16) are separated, and enter manual steering mode, rely on the hand-power of chaufeur to turn to completely.
Situation 2: current is steering-by-wire pattern, comprises again 3 sub cases:
During the situation 2a: the first motor (6) et out of order, mechanical steering and electric power steering magnetic clutch (17) combine, EPS, SBW magnetic clutch (7) is separated, Steering gear assisted electric servo-steering pattern, second motor (15) works, second motor (15) drives worm drive retarder (14), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft is delivered to and turns to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
During the situation 2b: the second motor (15) et out of order, mechanical steering and electric power steering magnetic clutch (17) combine, magnetic clutch (16) is separated, enter and turn to miniature gears assistance type electric power steering pattern, first motor (6) works, first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
Situation 2c: the first motor (6), the second motor (15) all et out of order time, EPS, SBW magnetic clutch (7), magnetic clutch (16) are separated, mechanical steering and electric power steering magnetic clutch (17) combine, enter manual steering mode, rely on the hand-power of chaufeur to turn to completely.
The invention has the beneficial effects as follows: the novel electric vehicle steering system structural of patent of the present invention is simple, there are three kinds of adjustable patterns that turn to such as mechanical steering, steering-by-wire, electric power steering, in driving procedure, chaufeur is by by the corresponding button turning to model selection interface, complete the change turning to pattern, manual steering mode or electric power steering pattern is changed into by steering-by-wire pattern, same automobile has Altitude control alerting ability under the prerequisite with simple structure, realizes the switching of driving model;
A kind ofly turn to some parts actual effect of pattern and can not be realized this when turning to pattern, can be automatically switched to other and turn to pattern, during certain motor et out of order of steering-by-wire pattern, electric power steering pattern, changeable is single Steering gear assistance type electric power steering pattern or miniature gears assistance type assisted electric servo-steering pattern or manual steering mode, and automobile still has steering capability.This fault tolerant control method effectively raises vehicle handling stability, reliability and fault-tolerant ability in steering swivel system motor et out of order situation.
Accompanying drawing explanation
Accompanying drawing 1 is the system architecture schematic diagram of patent of the present invention;
Accompanying drawing 2 is the structure & working mechanism of manual steering mode;
Accompanying drawing 3 is for turning to model selection interface;
Accompanying drawing 4 is for turning to display interface;
Accompanying drawing 5 is the master control block diagram of novel electric vehicle steering swivel system;
Accompanying drawing 6 is the control method block diagram of electric power steering pattern;
Accompanying drawing 7 is the control method block diagram of steering-by-wire pattern;
Accompanying drawing 8 is the fault diagnosis and fault-tolerant control block diagram of novel steering system;
In upper figure: EPS, SBWECU1, trouble diagnosing ECU2, power module 3, steering swivel system display interface 4, turn to model selection interface 5, first motor 6, EPS, SBW magnetic clutch 7, worm drive retarder 8(decelerator worm 8A, retarder worm gear 8B), universal-joint 9, turn to miniature gears 10, steering handwheel 11, steering shaft 12, first steering shaft 12A, second steering shaft 12B, 3rd steering shaft 12C, steering wheel angle torque sensor 13, worm drive retarder 14(worm screw 14A, worm gear 14B), second motor 15, magnetic clutch 16, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft 19, turn to miniature gears 20, wheel flutter 21, steering rack 22, motor-drive circuit 23, motor-drive circuit 24, rack displacement sensor 25, mechanical steering module 26, steering-by-wire module 27, electric power steering module 28, S1 vehicle-state, failure condition signal, S2 chaufeur turns to mode select signal, S3 power state signal, S4 steering wheel angle dtc signal, S5 clutch control signal, S6 vehicle speed signal, S7 ignition signal, S8 motor PWM signal, S9 clutch control signal, S10 clutch control signal, S11 motor PWM signal, S12 motor current signal, S13 motor current signal, S14 rack displacement signal.
Detailed description of the invention
1-8 by reference to the accompanying drawings, the invention will be further described:
A kind of have the adjustable electronlmobil steering swivel system turning to pattern, its technical scheme is: comprise EPS, SBWECU1, trouble diagnosing ECU2, power module 3, first motor 6, EPS, SBW magnetic clutch 7, worm drive retarder 8, decelerator worm 8A, retarder worm gear 8B, universal-joint 9, turn to miniature gears 10, steering handwheel 11, first steering shaft 12A, second steering shaft 12B, 3rd steering shaft 12C, steering wheel angle torque sensor 13, worm drive retarder 14, worm screw 14A, worm gear 14B, second motor 15, magnetic clutch 16, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft 19, turn to miniature gears 20, wheel flutter 21, steering rack 22, motor-drive circuit 23, motor-drive circuit 24, rack displacement sensor 25,
Steering handwheel 11 and the first steering shaft 12A, with thin spline joint, the first steering shaft 12A install the steering wheel angle torque sensor 13 for the angle and level of torque and direction measuring steering wheel rotation; Worm drive retarder 14 comprises worm screw 14A, worm gear 14B, worm gear 14B and the second steering shaft 12B is with spline joint, between second motor 15 and worm screw 14A, magnetic clutch 16 is installed, magnetic clutch 16, steering wheel angle torque sensor 13 be all that wire is connected between EPS, SBWECU1, EPS, SBWECU1 send combination, the released state that control signal controls magnetic clutch 16, when magnetic clutch 16 is in bonding state, the second motor 15 drives worm screw 14A to rotate; When magnetic clutch 16 is in released state, second motor 15 disconnects with worm screw 14A and being mechanically connected, the signal transmission of steering wheel angle torque sensor 13 is to EPS, SBWECU1, second motor 15 is with motor-drive circuit 23, motor-drive circuit 23 and be all that wire is connected between EPS, SBWECU1, EPS, SBWECU1 send pulse-width modulation PWM signal to motor-drive circuit 23, realize the driving of the second motor 15.
Wherein, mechanical steering and electric power steering magnetic clutch 17 are installed between second steering shaft 12B and the 3rd steering shaft 12C, mechanical steering and electric power steering with magnetic clutch 17 be that wire is connected between EPS, SBWECU1, EPS, SBWECU1 send combination, the released state that control signal controls described mechanical steering and electric power steering magnetic clutch 17, when mechanical steering and electric power steering magnetic clutch 17 are in bonding state, the second steering shaft 12B and the 3rd steering shaft 12C connects as one; When mechanical steering and electric power steering magnetic clutch 17 are in released state, second steering shaft 12B and the 3rd steering shaft 12C disconnects and being mechanically connected, 3rd steering shaft 12C is connected by universal-joint 18 with steering gear input shaft 19, turns to miniature gears 20 to engage with steering rack 22.
In addition, between first motor 6 and the decelerator worm 8A of worm drive retarder 8, EPS, SBW magnetic clutch 7 is installed, EPS, SBW with magnetic clutch 7 be that wire is connected between EPS, SBWECU1, EPS, SBWECU1 send combination, the released state that control signal controls described EPS, SBW magnetic clutch 7, when EPS, SBW magnetic clutch 7 is in bonding state, the first motor 6 drives decelerator worm 8A to rotate, when being in released state, first motor 6 disconnects with decelerator worm 8A and being mechanically connected, decelerator worm 8A engages with retarder worm gear 8B, axis serrated vertical, retarder worm gear 8B output shaft is connected by universal-joint 9 with turning between miniature gears 10 input shaft, miniature gears 10 is turned to engage with steering rack 22, steering rack 22 passes through pull bar, steering swivels etc. realize left, the rotation of right steering wheel 21, thus realize Vehicular turn, rack displacement sensor 25 is arranged on steering rack 22 and detects rack displacement value, rack displacement sensor 25 and EPS, SBWECU1 wire connects, the signal transmission of rack displacement sensor 25 is to EPS, SBWECU1.
What corresponding manual steering mode, steering-by-wire pattern, electric power steering pattern etc. were different turns to pattern, and the module of novel electric vehicle steering swivel system work can be described as the three large modules such as mechanical steering module 26, steering-by-wire module 27, electric power steering module 28.Different when turning to pattern, corresponding steering module work.During manual steering mode, mechanical steering module 26 works; During steering-by-wire pattern, steering-by-wire module 27 works; During electric power steering pattern, electric power steering module 28 works.
During steering-by-wire pattern, electric power steering magnetic clutch 17 is in released state, and EPS, SBW magnetic clutch 7 is in bonding state, and magnetic clutch 16 is in bonding state.Steering-by-wire module comprises three large submodules, i.e. submodule, the road feel feedback submodule and turn to submodule of the composition such as EPS, SBWECU1, trouble diagnosing ECU2, power module 3.Wherein, the road feel feedback submodule of the composition such as steering handwheel 11, steering shaft 12, steering wheel angle torque sensor 13, worm drive retarder 14, second motor 15, magnetic clutch 16 steering-by-wire module, effect is that the second motor 15 rotates by driving coaxial worm screw, worm screw 14A engages with worm gear 14B, the deceleration realizing worm drive retarder 14 increases to be turned round, to be acted on steering handwheel 11 the steering handwheel resisting moment in a certain size and direction by steering shaft 12, the road feel that chaufeur is certain is provided.
Motor 6, EPS, SBW magnetic clutch 7, worm drive retarder 8, universal-joint 9, turn to miniature gears 10, turn to miniature gears 10, the composition steering-by-wire module such as rack displacement sensor 25, wheel flutter 21, steering rack 22 turn to submodule, effect realizes turning to of wheel flutter 21.Power transmission line is that motor 6 drives decelerator worm 8A to rotate, and decelerator worm 8A engages with retarder worm gear 8B, and the deceleration realizing worm drive retarder 8 increases to be turned round.Retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, turns to miniature gears 10 to engage with steering rack 22, finally realizes the rotation of wheel flutter 21, realize turning to of vehicle.Steering swivel system display interface 4 shows the information such as faulty condition of vehicle-state, steering-by-wire module critical component.
Electric power steering module 28 comprises EPS, SBWECU1, trouble diagnosing ECU2, power module 3, steering swivel system display interface 4, turn to model selection interface 5, motor 6, EPS, SBW magnetic clutch 7, worm drive retarder 8 decelerator worm 8A, retarder worm gear 8B, universal-joint 9, turn to miniature gears 10, steering handwheel 11, steering shaft 12, steering wheel angle torque sensor 13, worm drive retarder 14 worm screw 14A, worm gear 14B, second motor 15, magnetic clutch 16, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft, turn to miniature gears 20, wheel flutter 21, steering rack 22 etc.
During electric power steering pattern, magnetic clutch 17 is in bonding state, and EPS, SBW magnetic clutch 7 is in bonding state, and magnetic clutch 16 is in bonding state.Chaufeur acts on the moment of steering handwheel 11,3 propulsions source such as the second motor 15 and motor 6 respectively by 1 power transmission line, is summarised in together, realizes the rotation of wheel flutter 21:
Power transmission line 1: because electric power steering magnetic clutch 17 is in bonding state, when chaufeur rotates steering handwheel 11, the steering torque of chaufeur is delivered to is turned to miniature gears 20 by steering shaft 12, steering wheel angle torque sensor 13, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft 19 successively, turn to miniature gears 20 rotate through with steering rack 22 engage the movement being converted to steering rack 22;
Power transmission line 2: because magnetic clutch 16 is in bonding state, second motor 15 drives coaxial worm screw to rotate, worm screw 14A engages with worm gear 14B, the deceleration realizing worm drive retarder 14 increases to be turned round, worm gear 14B output shaft is delivered to by mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft 19 and turns to miniature gears 20, turn to miniature gears 20 rotate through with steering rack 22 engage the movement being converted to steering rack 22;
Power transmission line 3: because EPS, SBW magnetic clutch 7 is in bonding state, motor 6 drives decelerator worm 8A to rotate, decelerator worm 8A engages with retarder worm gear 8B, the deceleration realizing worm drive retarder 8 increases to be turned round, retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, turns to miniature gears 10 to engage with steering rack 22;
The rotation of wheel flutter 21 is finally realized by above-mentioned 3 power transmission lines.
Fig. 2 is the structure & working mechanism of manual steering mode.Mechanical steering module 26 comprises EPS, SBWECU1, trouble diagnosing ECU2, power module 3, steering swivel system display interface 4, turns to model selection interface 5, steering handwheel 11, steering shaft 12, steering wheel angle torque sensor 13, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft, turn to miniature gears 20, steering rack 22, wheel flutter 21 etc.
During manual steering mode, magnetic clutch 17 is in bonding state.When chaufeur rotates steering handwheel 11, the steering torque of chaufeur is delivered to is turned to miniature gears 20 by steering shaft 12, steering wheel angle torque sensor 13, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft successively, turn to miniature gears 20 rotate through with steering rack 22 engage the movement being converted to steering rack 22, finally realize the rotation of wheel flutter 21.
What can arrange a kind of steering swivel system acquiescence turns to pattern, and such as the pattern that turns to of steering swivel system acquiescence is steering-by-wire pattern, and namely steering-by-wire module 27 works.Fig. 3, for turning to model selection interface, comprises three buttons such as manual steering mode, steering-by-wire pattern, electric power steering pattern.In driving procedure, chaufeur, by by the corresponding button turning to model selection interface 5, completes the change turning to pattern, changes into manual steering mode or electric power steering pattern by steering-by-wire pattern.
Fig. 4 for turning to display interface, can show chaufeur selected turn to pattern.According to the steering swivel system fault diagnosis result of trouble diagnosing ECU2, under display steering-by-wire pattern, electric power steering pattern etc. turn to pattern, primary electron parts comprise the faulty condition of steering wheel angle torque sensor 13, motor 6, second motor 15 etc., remind driver safety to drive, help maintainer's maintenance.
Fig. 5 is the master control FB(flow block) of novel electric vehicle steering swivel system.Mainly comprise the following steps:
1 system initialization, comprises the initialization such as micro controller system analogue to digital conversion port, timer of ECU.
2 detection chaufeurs are selected turns to pattern.Chaufeur is delivered to EPS, SBWECU1 turning to model selection interface 5 button result, after EPS, SBWECU1 judge that chaufeur is selected and turn to pattern, starts and turns to Schema control accordingly.
3 turn to Schema control accordingly.
Situation 1: if carry out manual steering mode control, then EPS, SBWECU1 send magnetic clutch control signal respectively to mechanical steering, electric power steering magnetic clutch 17, EPS, SBW magnetic clutch 7, magnetic clutch 16, mechanical steering, electric power steering magnetic clutch 17 combine, EPS, SBW magnetic clutch 7 is separated, magnetic clutch 16 is separated, and the first motor 6, second motor 15 does not all rotate;
Situation 2: if carry out electric power steering Schema control, then EPS, SBWECU1 send magnetic clutch control signal respectively to magnetic clutch 17, EPS, SBW magnetic clutch 7, magnetic clutch 16, mechanical steering, electric power steering magnetic clutch 17 combine, EPS, SBW magnetic clutch 7 combines, magnetic clutch 16 combines, ECU1 controls the first motor 6 and rotates, and realizes miniature gears 10 power-assisted; Second motor 15 rotates, and realizes Steering gear power-assisted, and electric power steering control algorithm is shown in Fig. 6;
Situation 3: if carry out steering-by-wire Schema control, then EPS, SBWECU1 send magnetic clutch control signal respectively to magnetic clutch 17, EPS, SBW magnetic clutch 7, magnetic clutch 16, mechanical steering, electric power steering magnetic clutch 17 are separated, EPS, SBW magnetic clutch 7 combines, magnetic clutch 16 combines, ECU1 controls the first motor 6 and rotates, and realizes turning to driving; Second motor 15 rotates, and realizes steering handwheel road feel feedback.Steering-by-wire Schema control algorithm is shown in Fig. 7.
4 steering swivel system Failure Detection and Fault-Tolerent Control process, are shown in Fig. 8.
Fig. 6 is the control method block diagram of electric power steering pattern in the situation 2 of the master control step 3 of novel electric vehicle steering swivel system, is mainly magnetic clutch control algorithm and power steering algorithm comprises top level control algorithm and lower floor's control algorithm.Key step comprises:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, sends the state that magnetic clutch control signal controls mechanical steering, electric power steering magnetic clutch 17, EPS, SBW magnetic clutch 7, magnetic clutch 16;
Step b: the top level control algorithm of power steering algorithm obtains the current target value of the second motor 15 and the current target value of the first motor 6 according to vehicle speed signal, steering-wheel torque signal;
Step c: lower floor's control algorithm of power steering algorithm carries out the control of the second motor 15 and the first motor 6, deviation according to the current target value of the second motor 15 and the current actual value of the second motor 15 carries out PID control, send the motor-drive circuit 23 of pulse-width modulation PWM signal control second motor 15, second motor 15 drives worm drive retarder 14, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft to be delivered to and to turn to miniature gears 20, turns to miniature gears 20 to engage with steering rack 22; According to the current target value of the first motor 6, carry out PID control with the deviation of the current actual value of the first motor 6, send the motor-drive circuit 24 of pulse-width modulation PWM signal control first motor 6, first motor 6 drives decelerator worm 8A to rotate, decelerator worm 8A engages with retarder worm gear 8B, the deceleration realizing worm drive retarder 8 increases to be turned round, retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, turns to miniature gears 10 to engage with steering rack 22.
Fig. 7 is the control method block diagram of steering-by-wire pattern in the situation 3 of the master control step 3 of novel electric vehicle steering swivel system.The control method of steering-by-wire pattern comprises magnetic clutch control algorithm, steer arithmetic and road feel algorithm three kinds of algorithms, and steer arithmetic and road feel algorithm respectively comprise again top level control algorithm and lower floor's control algorithm.Key step comprises:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, sends the state that magnetic clutch control signal controls described mechanical steering, electric power steering magnetic clutch 17, EPS, SBW magnetic clutch 7, magnetic clutch 16;
Step b: the top level control algorithm of steer arithmetic is according to vehicle speed signal, steering wheel angle signal obtains steering wheel angle expected value, the deviation of the steering wheel angle actual value that lower floor's control algorithm is converted to according to steering wheel angle expected value and rack displacement actual value and deviation variation rate carry out fuzzy-adaptation PID control, by the parameter of fuzzy control Tuning PID Controller, send the motor-drive circuit 24 of pulse-width modulation PWM signal control first motor 6, first motor 6 rotates, motor 6 drives decelerator worm 8A to rotate, decelerator worm 8A engages with retarder worm gear 8B, the deceleration realizing worm drive retarder 8 increases to be turned round, retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, miniature gears 10 is turned to engage with steering rack 22, finally realize the rotation of wheel flutter 21, realize turning to of vehicle,
Step c: the top level control algorithm of road feel algorithm is according to vehicle speed signal, steering wheel angle signal obtains the current target value of the second motor 15 for steering handwheel feedback force, lower floor's control algorithm carries out PID control according to the deviation of the current actual value of the current target value of the second motor 15 and the second motor 15, send the motor-drive circuit 23 of pulse-width modulation PWM signal control second motor 15, second motor 15 rotates, second motor 15 drives coaxial worm screw to rotate, worm screw 14A engages with worm gear 14B, the deceleration realizing worm drive retarder 14 increases to be turned round, steering handwheel resisting moment on steering handwheel 11 is acted on by steering shaft 12, the road feel that chaufeur is certain is provided.
Fig. 8 is the fault diagnosis and fault-tolerant control block diagram in certain the motor et out of order situation in the master control step 4 of novel electric vehicle steering swivel system in electric power steering pattern, steering-by-wire pattern, comprises 2 kinds of situations:
Situation 1: current is electric power steering pattern, comprises again 3 sub cases:
During the situation 1a: the first motor 6 et out of order, enter Steering gear assisted electric servo-steering pattern, second motor 15 works, second motor 15 drives worm drive retarder 14, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft to be delivered to and to turn to miniature gears 20, turns to miniature gears 20 to engage with steering rack 22.Finally realize the rotation of wheel flutter 21, realize turning to of vehicle;
During the situation 1b: the second motor 15 et out of order, turn to miniature gears assistance type electric power steering pattern, first motor 6 works, motor 6 drives decelerator worm 8A to rotate, and decelerator worm 8A engages with retarder worm gear 8B, and the deceleration realizing worm drive retarder 8 increases to be turned round, retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, turn to miniature gears 10 to engage with steering rack 22, finally realize the rotation of wheel flutter 21, realize turning to of vehicle;
Situation 1c: the first motor 6, second motor 15 all et out of order time, EPS, SBW magnetic clutch 7,16 is separated, and enters manual steering mode, relies on the hand-power of chaufeur to turn to completely.
Situation 2: current is steering-by-wire pattern, comprises again 3 sub cases:
During the situation 2a: the first motor 6 et out of order, mechanical steering, electric power steering magnetic clutch 17 combine, EPS, SBW magnetic clutch 7 is separated, Steering gear assisted electric servo-steering pattern, second motor 15 works, second motor 15 drives worm drive retarder 14, mechanical steering and electric power steering magnetic clutch 17, universal-joint 18, steering gear input shaft to be delivered to and to turn to miniature gears 20, miniature gears 20 is turned to engage with steering rack 22, finally realize the rotation of wheel flutter 21, realize turning to of vehicle;
During the situation 2b: the second motor 15 et out of order, mechanical steering, electric power steering magnetic clutch 17 combines, magnetic clutch 16 is separated, enter and turn to miniature gears assistance type electric power steering pattern, first motor 6 works, motor 6 drives decelerator worm 8A to rotate, decelerator worm 8A engages with retarder worm gear 8B, the deceleration realizing worm drive retarder 8 increases to be turned round, retarder worm gear 8B output shaft is driven by universal-joint 9 and turns to miniature gears 10, miniature gears 10 is turned to engage with steering rack 22, finally realize the rotation of wheel flutter 21, realize turning to of vehicle,
Situation 2c: the first motor 6, second motor 15 all et out of order time, EPS, SBW magnetic clutch 7,16 is separated, and mechanical steering, electric power steering magnetic clutch 17 combine, and enter manual steering mode, rely on the hand-power of chaufeur to turn to completely.
Above fault tolerant control method effectively raises vehicle handling stability, reliability and fault-tolerant ability in steering swivel system motor et out of order situation.
Claims (8)
1. there is the adjustable electronlmobil steering swivel system turning to pattern, it is characterized in that: comprise EPS, SBWECU(1), trouble diagnosing ECU(2), power module (3), first motor (6), EPS, SBW is with magnetic clutch (7), first worm drive retarder (8), decelerator worm (8A), retarder worm gear (8B), universal-joint (9), turn to miniature gears (10), steering handwheel (11), first steering shaft (12A), second steering shaft (12B), 3rd steering shaft (12C), steering wheel angle torque sensor (13), second worm drive retarder (14), worm screw (14A), worm gear (14B), second motor (15), magnetic clutch (16), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft (19), turn to miniature gears (20), wheel flutter (21), steering rack (22), first motor-drive circuit (23), second motor-drive circuit (24), rack displacement sensor (25),
Steering handwheel (11) and the first steering shaft (12A) are with thin spline joint, and the first steering shaft (12A) above installs the steering wheel angle torque sensor (13) for the angle and level of torque and direction measuring steering wheel rotation, second worm drive retarder (14) comprises worm screw (14A), worm gear (14B), worm gear (14B) and the second steering shaft (12B) are with spline joint, magnetic clutch (16) is installed between the second motor (15) and worm screw (14A), magnetic clutch (16), steering wheel angle torque sensor (13) and EPS, SBWECU(1) be all that wire connects between, EPS, SBWECU(1) combination that control signal controls magnetic clutch (16) is sent, released state, when magnetic clutch (16) is in bonding state, second motor (15) drives worm screw (14A) to rotate, when magnetic clutch (16) is in released state, second motor (15) and worm screw (14A) disconnect and being mechanically connected, the signal transmission of steering wheel angle torque sensor (13) is to EPS, SBWECU(1), second motor (15) and the first motor-drive circuit (23), the first motor-drive circuit (23) and EPS, SBWECU(1) between be all that wire is connected, EPS, SBWECU(1) send pulse-width modulation PWM signal to the first motor-drive circuit (23), realize the driving of the second motor (15).
2. according to claim 1 have the adjustable electronlmobil steering swivel system turning to pattern, it is characterized in that:
Mechanical steering and electric power steering magnetic clutch (17) are installed between the second steering shaft (12B) and the 3rd steering shaft (12C), mechanical steering and electric power steering magnetic clutch (17) and EPS, SBWECU(1) be that wire connects between, EPS, SBWECU(1) combination that control signal controls described mechanical steering and electric power steering magnetic clutch (17) is sent, released state, when mechanical steering and electric power steering magnetic clutch (17) are in bonding state, second steering shaft (12B) and the 3rd steering shaft (12C) connect as one, when mechanical steering and electric power steering magnetic clutch (17) are in released state, second steering shaft (12B) and the 3rd steering shaft (12C) disconnect and being mechanically connected, 3rd steering shaft (12C) is connected by universal-joint (18) with steering gear input shaft (19), turns to miniature gears (20) to engage with steering rack (22).
3. according to claim 1 have the adjustable electronlmobil steering swivel system turning to pattern, it is characterized in that:
Between the decelerator worm (8A) of the first motor (6) and the first worm drive retarder (8), EPS, SBW magnetic clutch (7) is installed, EPS, SBW magnetic clutch (7) and EPS, SBWECU(1) between be that wire is connected, EPS, SBWECU(1) send combination, released state that control signal controls described EPS, SBW magnetic clutch (7), when EPS, SBW magnetic clutch (7) is in bonding state, the first motor (6) drives decelerator worm (8A) to rotate, when being in released state, first motor (6) and decelerator worm (8A) disconnect and being mechanically connected, decelerator worm (8A) engages with retarder worm gear (8B), axis serrated vertical, retarder worm gear (8B) output shaft is connected by universal-joint (9) with turning between miniature gears (10) input shaft, miniature gears (10) is turned to engage with steering rack (22), steering rack (22) passes through pull bar, steering swivel realizes left, the rotation of right steering wheel (21), thus realize Vehicular turn, rack displacement sensor (25) is arranged on steering rack (22) upper detection rack displacement value, rack displacement sensor (25) and EPS, SBWECU(1) wire connects, the signal transmission of rack displacement sensor (25) is to EPS, SBWECU(1).
4. there is the adjustable control method turning to the electronlmobil steering swivel system of pattern, it is characterized in that: mainly comprise the steps:
1) system initialization, comprises the micro controller system analogue to digital conversion port of ECU, timer initialization;
2) detect that chaufeur is selected turns to pattern, chaufeur is delivered to EPS, SBWECU(1 turning to model selection interface (5) button result), EPS, SBWECU(1) judge that chaufeur is selected and turn to pattern after, start and turn to Schema control accordingly;
3) Schema control is turned to accordingly;
4) steering swivel system Failure Detection and Fault-Tolerent Control process.
5. according to claim 4 have the adjustable control method turning to the electronlmobil steering swivel system of pattern, it is characterized in that:
Step 3) turns to Schema control accordingly, comprises 3 kinds of situations:
Situation 1: if carry out manual steering mode control, then EPS, SBWECU(1) send magnetic clutch control signal respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16), mechanical steering and electric power steering magnetic clutch (17) combine, EPS, SBW magnetic clutch (7) is separated, magnetic clutch (16) is separated, first motor (6), the second motor (15) do not rotate, and rely on chaufeur hand-power to turn to;
Situation 2: if carry out electric power steering Schema control, then EPS, SBWECU(1) magnetic clutch control signal is sent respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW is with magnetic clutch (7), magnetic clutch (16), mechanical steering and electric power steering magnetic clutch (17) combine, EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines, ECU1 controls the first motor (6) and rotates, realize the power-assisted of miniature gears (10), second motor (15) rotates, realize the power-assisted of Steering gear,
Situation 3: if carry out steering-by-wire Schema control, then EPS, SBWECU(1) send magnetic clutch control signal respectively to mechanical steering and electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16), mechanical steering is separated with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines, ECU1 controls the first motor (6) and rotates, realization turns to driving, second motor (15) rotates, and realizes steering handwheel road feel feedback.
6. according to claim 5 have the adjustable control method turning to the electronlmobil steering swivel system of pattern, it is characterized in that:
In situation 2, the control method of electric power steering pattern is mainly magnetic clutch control algorithm and power steering algorithm, and power steering algorithm comprises top level control algorithm and lower floor's control algorithm, and key step is as follows:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, sends magnetic clutch control signal control mechanical steering and is all combined with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7), magnetic clutch (16);
Step b: the top level control algorithm of power steering algorithm obtains the current target value of the second motor (15) and the current target value of the first motor (6) according to vehicle speed signal, steering-wheel torque signal;
Step c: lower floor's control algorithm of power steering algorithm carries out the control of the second motor (15) and the first motor (6), deviation according to the current target value of the second motor (15) and the current actual value of the second motor (15) carries out PID control, send first motor-drive circuit (23) of pulse-width modulation PWM signal control second motor (15), second motor (15) drives the second worm drive retarder (14), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft is delivered to and turns to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), according to the current target value of the first motor (6), PID control is carried out with the deviation of the current actual value of the first motor (6), send second motor-drive circuit (24) of pulse-width modulation PWM signal control first motor (6), first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing the first worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22).
7. according to claim 5 have the adjustable control method turning to the electronlmobil steering swivel system of pattern, it is characterized in that:
In situation 3, the control method of steering-by-wire pattern comprises magnetic clutch control algorithm, steer arithmetic and road feel algorithm three kinds of algorithms, and steer arithmetic and road feel algorithm respectively comprise again top level control algorithm and lower floor's control algorithm, and key step is as follows:
Step a: magnetic clutch control algorithm turns to selection signal according to chaufeur, mechanical steering is separated with electric power steering magnetic clutch (17), EPS, SBW magnetic clutch (7) combines, magnetic clutch (16) combines to send the control of magnetic clutch control signal;
Step b: the top level control algorithm of steer arithmetic is according to vehicle speed signal, steering wheel angle signal obtains steering wheel angle expected value, the deviation of the steering wheel angle actual value that lower floor's control algorithm is converted to according to steering wheel angle expected value and rack displacement actual value and deviation variation rate carry out fuzzy-adaptation PID control, by the parameter of fuzzy control Tuning PID Controller, send second motor-drive circuit (24) of pulse-width modulation PWM signal control first motor (6), first motor (6) rotates, first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing the first worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
Step c: the top level control algorithm of road feel algorithm is according to vehicle speed signal, steering wheel angle signal obtains the current target value of the second motor (15) for steering handwheel feedback force, lower floor's control algorithm carries out PID control according to the deviation of the current actual value of the current target value of the second motor (15) and the second motor (15), send first motor-drive circuit (23) of pulse-width modulation PWM signal control second motor (15), second motor (15) rotates, second motor (15) drives coaxial worm screw to rotate, worm screw (14A) engages with worm gear (14B), the deceleration realizing the second worm drive retarder (14) increases to be turned round, the upper steering handwheel resisting moment of steering handwheel (11) is acted on by steering shaft (12), the road feel that chaufeur is certain is provided.
8. according to claim 4 have the adjustable control method turning to the electronlmobil steering swivel system of pattern, it is characterized in that:
The process of step 4) steering swivel system Failure Detection and Fault-Tolerent Control comprises 2 kinds of situations:
Situation 1: current is electric power steering pattern, comprises again 3 sub cases:
During the situation 1a: the first motor (6) et out of order, enter Steering gear assisted electric servo-steering pattern, second motor (15) works, second motor (15) drives the second worm drive retarder (14), mechanical steering and electric power steering magnetic clutch (17), universal-joint (18), steering gear input shaft to be delivered to and to turn to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle;
During the situation 1b: the second motor (15) et out of order, turn to miniature gears assistance type electric power steering pattern, first motor (6) works, motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing the first worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle;
Situation 1c: the first motor (6), the second motor (15) all et out of order time, EPS, SBW magnetic clutch (7), magnetic clutch (16) are separated, and enter manual steering mode, rely on the hand-power of chaufeur to turn to completely;
Situation 2: current is steering-by-wire pattern, comprises again 3 sub cases:
During the situation 2a: the first motor (6) et out of order, mechanical steering and electric power steering magnetic clutch (17) combine, EPS, SBW magnetic clutch (7) is separated, Steering gear assisted electric servo-steering pattern, second motor (15) works, second motor (15) drives the second worm drive retarder (14), mechanical steering and electric power steering are with magnetic clutch (17), universal-joint (18), steering gear input shaft is delivered to and turns to miniature gears (20), miniature gears (20) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
During the situation 2b: the second motor (15) et out of order, mechanical steering and electric power steering magnetic clutch (17) combine, magnetic clutch (16) is separated, enter and turn to miniature gears assistance type electric power steering pattern, first motor (6) works, first motor (6) drives decelerator worm (8A) to rotate, decelerator worm (8A) engages with retarder worm gear (8B), the deceleration realizing the first worm drive retarder (8) increases to be turned round, retarder worm gear (8B) output shaft is driven by universal-joint (9) and turns to miniature gears (10), miniature gears (10) is turned to engage with steering rack (22), finally realize the rotation of wheel flutter (21), realize turning to of vehicle,
Situation 2c: the first motor (6), the second motor (15) all et out of order time, EPS, SBW magnetic clutch (7), magnetic clutch (16) are separated, mechanical steering and electric power steering magnetic clutch (17) combine, enter manual steering mode, rely on the hand-power of chaufeur to turn to completely.
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| CN110962926B (en) * | 2019-12-24 | 2021-09-28 | 奇瑞汽车股份有限公司 | Multi-mode passenger car steering mode selection system |
| CN111422251B (en) * | 2020-05-25 | 2024-01-26 | 吉林大学 | Unmanned automobile steering system with multiple steering modes and control method thereof |
| CN112172918B (en) * | 2020-09-29 | 2022-04-01 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN112319602B (en) * | 2020-11-16 | 2023-10-31 | 吉林大学 | 6X4 electric automobile chassis system capable of realizing all-wheel steering and steering control method |
| CN112590921B (en) * | 2020-12-25 | 2022-02-08 | 吉林大学 | Intelligent automobile redundant steer-by-wire device and control method thereof |
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| CN113212543B (en) * | 2021-06-11 | 2022-04-08 | 南京航空航天大学 | Variable transmission ratio circulating ball type electro-hydraulic steering system and control method thereof |
| CN113212542B (en) * | 2021-06-11 | 2022-04-08 | 南京航空航天大学 | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof |
| CN113954956A (en) * | 2021-11-19 | 2022-01-21 | 扬州动源车用泵业有限公司 | Wire-controlled active four-wheel steering control device and control method and control mode thereof |
| CN117022432A (en) * | 2023-09-05 | 2023-11-10 | 小米汽车科技有限公司 | Steering control method and device, storage medium and vehicle |
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