CN103786786B - Steering wheel aligning system of wheel hub motor drive vehicle - Google Patents
Steering wheel aligning system of wheel hub motor drive vehicle Download PDFInfo
- Publication number
- CN103786786B CN103786786B CN201310711297.8A CN201310711297A CN103786786B CN 103786786 B CN103786786 B CN 103786786B CN 201310711297 A CN201310711297 A CN 201310711297A CN 103786786 B CN103786786 B CN 103786786B
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- Prior art keywords
- steering wheel
- spring
- positive
- hub motor
- wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
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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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
- G01D5/2013—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a steering wheel aligning system of a wheel hub motor drive vehicle. The steering wheel aligning system comprises an aligning spring mounted on a steering shaft of a steering wheel and used for providing rotating hand feel and aligning torque, a tension testing spring used for realizing linear motion and return of an induction magnetic rod, the induction magnetic rod used for acting with a magnetic field of a high-frequency induction coil to generate displacement signals, a signal collection loop used for collecting voltage signals of a signal output end of the high-frequency induction coil to acquire position signals of the magnetic rod, and a guide mechanism used for restricting linear motion of the magnetic rod. By the steering wheel aligning system, steering feel of a driver and the aligning torque of the steering wheel under a steering-by-wire stage are provided, and accurate absolute steering angle position of the steering wheel can be provided, so that a guarantee is provided for accurate steering of the vehicle.
Description
Technical field
The present invention relates to the motor in electric automobile course changing control field of wheel hub motor individual drive, particularly an a kind of wheel hub motor independent drive electric vehicle steering-by-wire.
Background technology
The features such as wheel hub motor independent drive electric vehicle has flexible configuration, and Power output is steady, and realize freely turning in conjunction with the torque that turns to that steering-by-wire can utilize the torque of wheel hub motor to be formed.The method of designing of the steering swivel system of the general reference for modern automobile of existing steering-by-wire, what adopt photo-electric or coding type turns to RM.But because traditional steering swivel system is all that the aligning torque formed based on the stub camber angle of wheel flutter and axle pin rearward rake angle etc. realizes the steering feel of draw drum and just returning of steering handwheel, in steering-by-wire, cannot use road surface feedback.In addition because steering handwheel exists the problem that multi-turn turns in steering procedure, now traditional steering wheel angle recognition system accurately cannot identify the absolute location of steering handwheel, thus brings a system problem for a wheel hub motor independent drive electric vehicle steering-by-wire.
Summary of the invention
Technical matters to be solved of the present invention is to provide a kind of mechanism and the locating measurement method that adopt steering-by-wire, the automatic aligning function of wheel hub motor individual drive electronlmobil steering-by-wire can be realized, accurately can test the angle position of bearing circle in line traffic control steering procedure simultaneously.
An aspect of of the present present invention provides the steering wheel return positive system of wheel-hub motor driven vehicle, and this system comprises: return positive spring, this time positive spring be fixed on steering wheel shaft, for providing rotation feel and time positive torque of bearing circle; Tensile test spring, this tensile test spring one end connects described time positive spring, one end connection body attachment point; Radio-frequency induction coil, 12VDC or the 24VDC copped wave of car load, by HF switch power device, is 15kHz high-frequency currents, to form close coupling magnetic field in described radio-frequency induction coil by this radio-frequency induction coil; Induction bar magnet, this induction bar magnet is connected with described tensile test spring, and moves in described radio-frequency induction coil, thus changes the magnetic induction density of test; Acquisition of signal loop, this acquisition of signal loop gathers the output signal of described radio-frequency induction coil, and this signal is sent to whole-control system; And guiding mechanism, this guiding mechanism is used for retraining described path of motion of returning positive spring and described tensile test spring.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, when bearing circle mediates, the deformation quantity of described time positive spring is zero, now describedly returns positive spring and can not fold effect to direction; When rotating of steering wheel, described time positive spring will be compressed or be stretched, thus produce aligning torque, make chaufeur produce the road feel turned to; And when vehicle immobilization, the aligning torque that described time positive spring provides can ensure that vehicle does not exist turn sign when to start next time, guarantees traffic safety.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, described time positive spring is limited in described guide frame together with described tensile test spring with the connecting bridge of described tensile test spring, guarantees the correct identification of signal.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, according to demand, can regulate the rigidity of described tensile test spring, returns positive torque with the compound obtaining being applicable to.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, described system also comprises high-frequency chopper, vehicle-mounted 12VDC or 24VDC copped wave is become 15kHz high frequency voltage by this high-frequency chopper, and this 15kHz high frequency voltage is supplied to described radio-frequency induction coil.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, 15kHz high frequency voltage is sensed as high frequency magnetic field by described radio-frequency induction coil, forms vibration magnetic circuit; Described high-frequency induction also has direct voltage output loop, and described direct voltage output loop exports 0 ~ 5VDC signal according to the magnetic resistance size in described radio-frequency induction coil.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, the d. c. voltage signal of described radio-frequency induction coil can be carried out data acquisition and be sent in whole-control system by described acquisition of signal loop.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, described guiding mechanism constraint is described returns positive spring, described tensile test spring and described induction bar magnet, makes them can according to the rectified path motion of agreement.
Another aspect of the present invention provides the bearing circle locating measurement method of wheel-hub motor driven vehicle, it adopts the steering wheel return positive system of above-described wheel-hub motor driven vehicle, and the pass between the displacement x of described induction bar magnet and the VD V of described radio-frequency induction coil is:
V=kx
Measure described VD V by described signal conditioning circuit, the numerical value of described displacement x can be calculated, thus know the crank degree of bearing circle, realize controlled turning to.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention, it comprises: the spiral be arranged on wheel steering axle returns positive spring, for providing the rotation feel of bearing circle and returning positive torque; Tensile test spring, for realizing motion of translation and the reply of responding to bar magnet; Power switch circuit, for becoming high frequency voltage by Vehicular direct-current voltage chopping; Radio-frequency induction coil, for being supplied to induction bar magnet induced field, realizes displacement measurement; Induction bar magnet, for the magnetic fields with radio-frequency induction coil, produces displacement signal; Signal conditioning circuit, can 0 ~ 5VDC voltage of identification for the effect of radio-frequency induction coil and bar magnet being converted to outward sign receiving device; Acquisition of signal loop, gathers the voltage signal of the signal output part of radio-frequency induction coil, thus obtains the position signal of bar magnet; And guiding mechanism, for retraining the straight-line motion of bar magnet.This system provide not only chaufeur steering feel under steering-by-wire and the positive torque of steering wheel return, can provide the accurate absolute steering angle position of bearing circle, for accurately turning to of vehicle provides safeguard simultaneously.
The steering wheel return positive system of wheel-hub motor driven vehicle of the present invention and locating measurement method, what this system can provide suitable steering-by-wire returns positive torque, guarantees that chaufeur has enough steerinies feel when turning to, thus more accurately can realize steering operation.Meanwhile, the test loop of this system accurately can obtain the corner information of steering handwheel when vehicle travel process and starting state, thus realizes good turning efficiency.
Accompanying drawing explanation
Fig. 1 is the steering wheel return positive system schematic diagram of wheel-hub motor driven vehicle.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be described in detail.
The steering wheel return positive system of the wheel-hub motor driven vehicle shown in Fig. 1, comprises spiral and returns positive spring 1, tensile test spring 2, power switch circuit 3, radio-frequency induction coil 4, induction bar magnet 5, signal conditioning circuit 6, guiding mechanism 7.
The spiral be fixed on steering wheel shaft returns positive spring 1 when bearing circle mediates, its deformation quantity is zero, now spiral returns positive spring 1 and can not fold effect to direction, once rotating of steering wheel, then spiral returns positive spring 1 and will be compressed or stretch, thus will produce aligning torque, makes chaufeur produce the road feel turned to, spiral returns positive spring 1 and also will produce displacement with the connecting bridge of tensile test spring 2 simultaneously, thus drives tensile test spring works.
The connecting bridge of positive spring 1 and tensile test spring 2 is returned at spiral, spiral returns positive spring 1 and is processed into form of straight lines, this straight line portion is limited in guide frame 7 together with tensile test spring 2, makes both this straight line portion and tensile test spring 2 to produce linear translational motion.Part is supplemented the aligning torque that spiral returns positive spring 1 by tensile test spring 2, to meet time positive demand of bearing circle.
Return positive spring 1 at spiral to install with the junction of tensile test spring 2 and respond to bar magnet 5, this bar magnet 5 has fully part to be enclosed in radio-frequency induction coil 4, by becoming 15kHz high frequency voltage by power switch circuit 3 from vehicle-mounted 12VDC or 24VDC copped wave in radio-frequency induction coil 4, and this 15kHz high frequency voltage is supplied to radio-frequency induction coil 4, and then produce high-intensity magnetic field in the inner space of radio-frequency induction coil 4.This power switch circuit 3 is high-frequency chopper.According to magnetic Field Coupling law, when responding to bar magnet 5 and moving in the inner space of radio-frequency induction coil 4, changes of magnetic field will be caused, thus the voltage of 0 ~ 5VDC can be exported at the signal measurement end of radio-frequency induction coil 4, according to the adjustment result of mechanism, can think that the pass between displacement x and output voltage V responding to bar magnet 5 is:
V=kx
Measure by signal conditioning circuit 6 numerical value that V signal just can calculate x, thus know the crank degree of bearing circle, realize controlled turning to.
Claims (9)
1. the steering wheel return positive system of wheel-hub motor driven vehicle, it is characterized in that, this system comprises
Return positive spring, this time positive spring is fixed on steering wheel shaft, for providing the rotation feel of bearing circle and returning positive torque;
Tensile test spring, this tensile test spring one end connects described time positive spring, one end connection body attachment point;
Radio-frequency induction coil, 12VDC or the 24VDC copped wave of car load, by HF switch power device, is 15kHz high-frequency currents, to form close coupling magnetic field in described radio-frequency induction coil by this radio-frequency induction coil;
Induction bar magnet, this induction bar magnet is connected with described tensile test spring, and moves in described radio-frequency induction coil, thus changes the magnetic induction density of test;
Acquisition of signal loop, this acquisition of signal loop gathers the output signal of described radio-frequency induction coil, and this signal is sent to whole-control system; And
Guiding mechanism, this guiding mechanism is used for retraining described path of motion of returning positive spring and described tensile test spring.
2. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, it is characterized in that, when bearing circle mediates, the deformation quantity of described time positive spring is zero, now describedly returns positive spring and can not fold effect to direction; When rotating of steering wheel, described time positive spring will be compressed or be stretched, thus produce aligning torque, make chaufeur produce the road feel turned to; And when vehicle immobilization, the aligning torque that described time positive spring provides can ensure that vehicle does not exist turn sign when to start next time, guarantees traffic safety.
3. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, it is characterized in that, described time positive spring is limited in described guide frame together with described tensile test spring with the connecting bridge of described tensile test spring, guarantees the correct identification of signal.
4. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, is characterized in that, according to demand, can regulate the rigidity of described tensile test spring, return positive torque to obtain the meeting positive compound of steering wheel return.
5. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, it is characterized in that, described system also comprises high-frequency chopper, vehicle-mounted 12VDC or 24VDC copped wave is become 15kHz high frequency voltage by this high-frequency chopper, and this 15kHz high frequency voltage is supplied to described radio-frequency induction coil.
6. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 5, it is characterized in that, 15kHz high frequency voltage is sensed as high frequency magnetic field by described radio-frequency induction coil, forms vibration magnetic circuit; Described high-frequency induction also has direct voltage output loop, and described direct voltage output loop exports 0 ~ 5VDC signal according to the magnetic resistance size in described radio-frequency induction coil.
7. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, it is characterized in that, the d. c. voltage signal of described radio-frequency induction coil can be carried out data acquisition and be sent in whole-control system by described acquisition of signal loop.
8. the steering wheel return positive system of wheel-hub motor driven vehicle according to claim 1, it is characterized in that, described guiding mechanism constraint is described returns positive spring, described tensile test spring and described induction bar magnet, and they can be moved according to the rectified path of agreement.
9. the bearing circle locating measurement method of wheel-hub motor driven vehicle, it is characterized in that, adopt the steering wheel return positive system of the wheel-hub motor driven vehicle described in any one in claim 1 to 8, and the pass between the displacement x of described induction bar magnet and the VD V of described radio-frequency induction coil is:
V＝kx
Measure described VD V by described signal conditioning circuit, the numerical value of described displacement x can be calculated, thus know the crank degree of bearing circle, realize controlled turning to.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310711297.8A CN103786786B (en) | 2013-12-20 | 2013-12-20 | Steering wheel aligning system of wheel hub motor drive vehicle |
| PCT/CN2014/000454 WO2015089890A1 (en) | 2013-12-20 | 2014-04-30 | Steering wheel return system for a wheel hub motor-driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310711297.8A CN103786786B (en) | 2013-12-20 | 2013-12-20 | Steering wheel aligning system of wheel hub motor drive vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103786786A CN103786786A (en) | 2014-05-14 |
| CN103786786B true CN103786786B (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310711297.8A Active CN103786786B (en) | 2013-12-20 | 2013-12-20 | Steering wheel aligning system of wheel hub motor drive vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103786786B (en) |
| WO (1) | WO2015089890A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310626A (en) * | 2016-04-27 | 2017-11-03 | 於林峰 | Whether vehicle steering returns positive instruction device and its indicating means |
| DE102018132465B4 (en) * | 2018-12-17 | 2020-10-08 | Joyson Safety Systems Germany Gmbh | Restoring torque generating device for a motor vehicle |
| CN110254503B (en) * | 2019-06-27 | 2022-02-01 | 许小健 | New agricultural is ploughed integrative machine and is used direction auxiliary structure |
| CN112498467A (en) * | 2020-12-09 | 2021-03-16 | 甘肃省机械科学研究院有限责任公司 | Self-returning steering control device for steering wheel of tracked vehicle |
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| US6670804B1 (en) * | 1999-07-28 | 2003-12-30 | Daimlerchrysler Ag | Method for determining the angular position of a rotative part which performs a rotational movement |
| EP1424264B1 (en) * | 2002-11-27 | 2007-01-03 | Jtekt Corporation | Angle detection device and torque sensor incorporating angle detection device |
| CN201305025Y (en) * | 2008-12-12 | 2009-09-09 | 沙市久隆汽车动力转向器有限公司 | Rotary valve returning device capable of improving operational stability of vehicle steering gear |
| CN102530071A (en) * | 2011-12-21 | 2012-07-04 | 株洲易力达机电有限公司 | Electric power-assisted steering aligning controller without angle sensor |
| CN202368630U (en) * | 2011-11-24 | 2012-08-08 | 东风汽车有限公司 | Steering return device for steering wheel |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4761053B2 (en) * | 2006-03-15 | 2011-08-31 | 株式会社ジェイテクト | Rotational position sensor, composite rotational position sensor, and electric power steering apparatus |
-
2013
- 2013-12-20 CN CN201310711297.8A patent/CN103786786B/en active Active
-
2014
- 2014-04-30 WO PCT/CN2014/000454 patent/WO2015089890A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6670804B1 (en) * | 1999-07-28 | 2003-12-30 | Daimlerchrysler Ag | Method for determining the angular position of a rotative part which performs a rotational movement |
| EP1424264B1 (en) * | 2002-11-27 | 2007-01-03 | Jtekt Corporation | Angle detection device and torque sensor incorporating angle detection device |
| CN201305025Y (en) * | 2008-12-12 | 2009-09-09 | 沙市久隆汽车动力转向器有限公司 | Rotary valve returning device capable of improving operational stability of vehicle steering gear |
| CN202368630U (en) * | 2011-11-24 | 2012-08-08 | 东风汽车有限公司 | Steering return device for steering wheel |
| CN102530071A (en) * | 2011-12-21 | 2012-07-04 | 株洲易力达机电有限公司 | Electric power-assisted steering aligning controller without angle sensor |
| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015089890A1 (en) | 2015-06-25 |
| CN103786786A (en) | 2014-05-14 |
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