CN105216859B - The automaton and its control method of a kind of electronic hydraulic power-assisted steering system - Google Patents
The automaton and its control method of a kind of electronic hydraulic power-assisted steering system Download PDFInfo
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- CN105216859B CN105216859B CN201510682110.5A CN201510682110A CN105216859B CN 105216859 B CN105216859 B CN 105216859B CN 201510682110 A CN201510682110 A CN 201510682110A CN 105216859 B CN105216859 B CN 105216859B
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Abstract
The invention discloses a kind of automaton of electronic hydraulic power-assisted steering system, including corner torque sensor, vehicle speed sensor, electronic-controlled power steering ECU, hydraulic booster drive module and power steering stgear, electronic-controlled power steering ECU includes Analog input mModule and analog output module, hydraulic booster drive module include hydraulic-driven relay, by the motor of hydraulic-driven relay control switch, timer, by motor-operated hydraulic pump and positioned at the magnetic valve in hydraulic pump connecting pipe；Wherein, the Analog input mModule of corner torque sensor and vehicle speed sensor respectively with electronic-controlled power steering ECU is connected；Electronic-controlled power steering ECU analog output module, hydraulic booster drive module and power steering stgear is sequentially connected；Electronic-controlled power steering ECU analog output module connects hydraulic-driven relay, timer and the magnetic valve of hydraulic booster drive module respectively.The invention also discloses the control method of above-mentioned automaton.
Description
Technical field
The present invention relates to a kind of automaton of electronic hydraulic power-assisted steering system, the invention further relates to electro-hydraulic
The control method of servo steering system automaton, belongs to technical field of automotive electronics.
Background technology
With the fast development of automotive electronic technology, electronic technology constantly expands in the application of automobile industry, automobile
Electronization, modularization have become inevitable trend.Automobile steering system also mainly experienced Purely mechanical steering therewith,
The developing stage of mechanical-hydraulic servo steering system, electronic hydraulic power-assisted steering system and electric boosting steering system.
Electronic hydraulic power-assisted steering system is a kind of electronics power-assisted for driving hydraulic pump to provide power steering by motor
Steering.On the basis of the hydraulic power-assist steering system advantage of inheriting tradition, electronic hydraulic power-assisted steering system is needing
Start motor during steering, drive hydraulic pump to produce power-assisted, reduce engine fuel consumption；It can be carried under various traveling road conditions
For optimal power-assisted, reduce disturbance of the surface evenness change to steering, improve driving comfort.
Judge the steering boost system whether motor start only in accordance with steering angle at present, fail effectively solve actual row
Influence of the Shi Zhongkuangliang areas to vehicle, Kuang Liang areas built-in motor frequent start-stop is caused, adds power consumption and maintaining cost.
The content of the invention
Goal of the invention：The technical problems to be solved by the invention are to provide a kind of the automatic of electronic hydraulic power-assisted steering system
Control device, the electronic hydraulic power-assisted steering system automaton is due to using torque angle and the dual parameter conduct of steering angle
Power-assisted steering drives working position, therefore can accurately identify Kuang Liang areas, improves the precision of control.
The present invention also technical problems to be solved are to provide above-mentioned electronic hydraulic power-assisted steering system automaton
Control method.
In order to solve the above technical problems, the technical solution adopted in the present invention is：
A kind of automaton of electronic hydraulic power-assisted steering system, including corner torque sensor, vehicle speed sensor,
Electronic-controlled power steering ECU, hydraulic booster drive module and power steering stgear, the electronic-controlled power steering ECU include Analog input mModule
And analog output module, the hydraulic booster drive module include hydraulic-driven relay, pass through the hydraulic-driven relay
The motor of device controlling switch, timer, by motor-operated hydraulic pump and positioned at the electricity in hydraulic pump connecting pipe
Magnet valve；
Wherein, the corner torque sensor and the vehicle speed sensor analog input with electronic-controlled power steering ECU respectively
Module is connected；
Analog output module, hydraulic booster drive module and the power steering stgear of the electronic-controlled power steering ECU is sequentially connected；
The analog output module of the electronic-controlled power steering ECU connects the hydraulic-driven of the hydraulic booster drive module respectively
Relay, timer and magnetic valve, the hydraulic-driven relay connect the motor, and the motor connects the hydraulic pressure
Pump.
Further preferably, the magnetic valve includes pressure limiting valve and check valve.
Further preferably, in addition to power circuit, the power circuit connect battery, and it is whole that the battery, which is used for,
Automaton is powered.
The control method of above-mentioned electronic hydraulic power-assisted steering system automaton, comprises the following steps：
Step 1, running parameter is set, including turns to interposition, torque angle working position, normal power-assisted steering drives work
Position, the road relay switching variable state of VFC three；
Step 2, corner torque sensor collecting work actual value and electronic-controlled power steering ECU is sent to, hydraulic-driven relay
Export normally closed signal；
Step 3, electronic-controlled power steering ECU sets torque angle and actual torque angle by comparison step 1 and step 2, if actual forces
Square angle reaches setting working position, performs step 4；Otherwise, return to step 2；
Step 4, hydraulic-driven relay exports normally opened signal, and timer is delayed 1 second；
Step 5, electronic-controlled power steering ECU is by the setting steering angle and actual steering angle of comparison step 1 and step 2, if actual
Steering angle reaches setting working position, and hydraulic-driven relay keeps exporting normally opened signal；Otherwise, return to step 2；
Step 6, corner torque sensor collecting work actual value and it is sent to electronic-controlled power steering ECU；
Step 7, if electronic-controlled power steering ECU judges torque angle and steering angle returns to interposition, return to step 2 simultaneously；Otherwise,
Relay keeps exporting normally opened signal, return to step 6.
Beneficial effect：Compared to prior art, automaton of the present invention is dual by setting torque angle and steering angle
Parameter drives working position as power-assisted steering, can effectively reduce the unnecessary start and stop of Kuang Liang areas built-in motor, while reduce reality
Driving stops the generation of phenomenon when border turns to, and effectively increases the operating efficiency and stability of servo steering system, further drop
Low energy consumption；Automaton of the present invention can also voluntarily adjust power steering according to speed.
Brief description of the drawings
Fig. 1 is electronic hydraulic power-assisted steering system automaton interposition schematic diagram of the present invention；
Fig. 2 is electronic hydraulic power-assisted steering system automaton torque working position schematic diagram I of the present invention；
Fig. 3 is electronic hydraulic power-assisted steering system automaton torque working position schematic diagram II of the present invention；
Fig. 4 is the normal power-assisted steering working position schematic diagram I of electronic hydraulic power-assisted steering system automaton of the present invention；
Fig. 5 is the normal power-assisted steering working position schematic diagram of electronic hydraulic power-assisted steering system automaton of the present invention
II；
Fig. 6 is the systematic schematic diagram of electronic hydraulic power-assisted steering system automaton of the present invention；
Fig. 7 is the control flow chart of electronic hydraulic power-assisted steering system automaton of the present invention.
Embodiment
According to following embodiments, the present invention may be better understood.It is however, as it will be easily appreciated by one skilled in the art that real
Apply the content described by example and be merely to illustrate the present invention, without should be also without limitation on sheet described in detail in claims
Invention.
Present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the present embodiment, which is set, turns to interposition, torque angle（Inner circle）For 0 °, steering angle（It is cylindrical）For 0 °.
As shown in Fig. 2 ~ 3, the present embodiment sets torque angle working position, when torque angle reaches ± 4 °, hydraulic booster driving
Relay adhesive, after now timer timing 1 second, 1 second, reach ± 4 ° as steering angle does not follow, hydraulic booster driving after
Electrical equipment keeps attracting state, judges that once driving flow finishes.
As shown in Fig. 4 ~ 5, this example sets normal power-assisted steering driving working position, and working condition is in normal power-assisted steering
After driving position, only after torque angle and steering angle return to interposition as shown in figure simultaneously, hydraulic booster driving relay is
It is normal to disconnect.Now system rejudges whether vehicle steering turns to.
As shown in fig. 6, the automaton of electronic hydraulic power-assisted steering system of the present invention, including corner torque sensing
Device, vehicle speed sensor, electronic-controlled power steering ECU, hydraulic booster drive module and power steering stgear, electronic-controlled power steering ECU include simulation
Measure input module and analog output module, hydraulic booster drive module include hydraulic-driven relay, by hydraulic-driven after
The motor of electric control switch, timer, by motor-operated hydraulic pump, and the magnetic valve being connected with hydraulic pump；Turn
The Analog input mModule of angle torque sensor and vehicle speed sensor respectively with electronic-controlled power steering ECU is connected, corner torque sensor
The reality of work steering angle collected and torque angle value are sent to electronic-controlled power steering ECU；Electronic-controlled power steering ECU analog output mould
Block is sequentially connected with hydraulic booster drive module and power steering stgear；Electronic-controlled power steering ECU analog output module connects respectively
Hydraulic-driven relay, timer and the magnetic valve of hydraulic booster drive module, electronic-controlled power steering ECU control hydraulic-driven relays
Keying, so as to starting or stoping by Control motor, the startup of motor drives the generation of hydraulic pump to turn again
To power-assisted, hydraulic pump is connected with pipeline, and magnetic valve is located in pipeline, and when hydraulic pump works, magnetic valve is opened, when hydraulic pump stops
When only working, closed electromagnetic valve, pipeline is in packing state, and magnetic valve includes pressure limiting valve and check valve, electro-hydraulic of the present invention
The automaton of servo steering system also includes power circuit, and power circuit connection battery, it is whole that battery, which is used for,
Automaton is powered.
Electronic hydraulic power-assisted steering system automaton of the present invention sets power-assisted steering according to torque angle and steering angle
Drive working position（Start motor according to torque angle and two parameters of steering angle, and then drive hydraulic pump to produce steering and help
Power）, the operating frequency of hydraulic booster drive module in Kuang Liang areas is reduced, reduces power consumption.
Electronic hydraulic power-assisted steering system automaton of the present invention carries out VFC by speed, carries out VFC
No. three relays, when switching value is identical to remain principle, eliminates as much as control and refresh the switch concussion effect brought.
Electronic hydraulic power-assisted steering system of the present invention turns to monitoring module and uses CAN communication agreement communication with the outside world.
As shown in fig. 7, the control method of above-mentioned electronic hydraulic power-assisted steering system automaton, including following step
Suddenly：
Step 1, running parameter is set, including turns to interposition, torque angle working position, normal power-assisted steering drives work
Position, the road relay switching variable state of VFC three；
Step 2, corner torque sensor collecting work actual value and electronic-controlled power steering ECU is sent to, hydraulic-driven relay
Export normally closed signal；
Step 3, electronic-controlled power steering ECU sets torque angle and actual torque angle by comparison step 1 and step 2, if actual forces
Square angle reaches setting working position, performs step 4；Otherwise, return to step 2；
Step 4, hydraulic-driven relay exports normally opened signal, and timer is delayed 1 second；
Step 5, electronic-controlled power steering ECU is by the setting steering angle and actual steering angle of comparison step 1 and step 2, if actual
Steering angle reaches setting working position, and hydraulic-driven relay keeps exporting normally opened signal；Otherwise, return to step 2；
Step 6, corner torque sensor collecting work actual value and it is sent to electronic-controlled power steering ECU；
Step 7, if electronic-controlled power steering ECU judges torque angle and steering angle returns to interposition, return to step 2 simultaneously；Otherwise,
Relay keeps exporting normally opened signal, return to step 6.
Claims (1)
- A kind of 1. control method of electronic hydraulic power-assisted steering system automaton, it is characterised in that：The electro-hydraulic Servo steering system automaton includes corner torque sensor, vehicle speed sensor, electronic-controlled power steering ECU, hydraulic booster and driven Dynamic model block and power steering stgear, the electronic-controlled power steering ECU include Analog input mModule and analog output module, the liquid Power-assisted drive module is pressed to include hydraulic-driven relay, the motor by the hydraulic-driven relay control switch, timing Device, by motor-operated hydraulic pump and positioned at the magnetic valve in hydraulic pump connecting pipe；Wherein, the corner torque passes The Analog input mModule of sensor and the vehicle speed sensor respectively with electronic-controlled power steering ECU is connected；The mould of the electronic-controlled power steering ECU Analog quantity output module, hydraulic booster drive module and power steering stgear are sequentially connected；The analog output of the electronic-controlled power steering ECU Module connects hydraulic-driven relay, timer and the magnetic valve of the hydraulic booster drive module, the hydraulic-driven respectively Relay connects the motor, and the motor connects the hydraulic pump；The magnetic valve includes pressure limiting valve and check valve；Also Including power circuit, the power circuit connects battery, and the battery is used to power for whole automaton；The control method of the electronic hydraulic power-assisted steering system automaton comprises the following steps：Step 1, running parameter is set, including turns to interposition, torque angle working position, normal power-assisted steering drives working position, becomes Frequency three road relay switching variable states of control；Step 2, corner torque sensor collecting work actual value and electronic-controlled power steering ECU is sent to, the output of hydraulic-driven relay Normally closed signal；Step 3, electronic-controlled power steering ECU sets torque angle and actual torque angle by comparison step 1 and step 2, if actual torque angle Reach setting working position, perform step 4；Otherwise, return to step 2；Step 4, hydraulic-driven relay exports normally opened signal, and timer is delayed 1 second；Step 5, electronic-controlled power steering ECU is by the setting steering angle and actual steering angle of comparison step 1 and step 2, if actual steering Angle reaches setting working position, and hydraulic-driven relay keeps exporting normally opened signal；Otherwise, return to step 2；Step 6, corner torque sensor collecting work actual value and it is sent to electronic-controlled power steering ECU；Step 7, if electronic-controlled power steering ECU judges torque angle and steering angle returns to interposition, return to step 2 simultaneously；Otherwise, relay Device keeps exporting normally opened signal, return to step 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510682110.5A CN105216859B (en) | 2015-10-21 | 2015-10-21 | The automaton and its control method of a kind of electronic hydraulic power-assisted steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510682110.5A CN105216859B (en) | 2015-10-21 | 2015-10-21 | The automaton and its control method of a kind of electronic hydraulic power-assisted steering system |
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| Publication Number | Publication Date |
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| CN105216859A CN105216859A (en) | 2016-01-06 |
| CN105216859B true CN105216859B (en) | 2018-03-16 |
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| CN201510682110.5A Active CN105216859B (en) | 2015-10-21 | 2015-10-21 | The automaton and its control method of a kind of electronic hydraulic power-assisted steering system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114043974A (en) * | 2021-12-06 | 2022-02-15 | 重庆嘉陵全域机动车辆有限公司 | Control system and method for electrically-driven all-terrain vehicle emergency steering |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0350817A2 (en) * | 1988-07-11 | 1990-01-17 | Koyo Seiko Co., Ltd. | Motor-driven power steering apparatus |
| EP0412637A1 (en) * | 1989-08-08 | 1991-02-13 | Trw Cam Gears Limited | A vehicle steering system |
| EP0953493A1 (en) * | 1997-08-26 | 1999-11-03 | Koyo Seiko Co., Ltd. | Power steering device |
| CN204688199U (en) * | 2015-06-18 | 2015-10-07 | 西安航空学院 | A kind of electronlmobil hydraulic power-assist steering system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57201766A (en) * | 1981-06-03 | 1982-12-10 | Mazda Motor Corp | Power steering gear |
| JPS58136559A (en) * | 1982-02-08 | 1983-08-13 | Toyoda Autom Loom Works Ltd | Power steering gear |
| JPS58177774A (en) * | 1982-04-08 | 1983-10-18 | Nissan Motor Co Ltd | Power steering |
| JP2002039877A (en) * | 2000-07-27 | 2002-02-06 | Koyo Seiko Co Ltd | Torque detector and motor-driven power steering device |
| JP2002166843A (en) * | 2000-11-30 | 2002-06-11 | Koyo Seiko Co Ltd | Motor-driven power steering device |
-
2015
- 2015-10-21 CN CN201510682110.5A patent/CN105216859B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0350817A2 (en) * | 1988-07-11 | 1990-01-17 | Koyo Seiko Co., Ltd. | Motor-driven power steering apparatus |
| EP0412637A1 (en) * | 1989-08-08 | 1991-02-13 | Trw Cam Gears Limited | A vehicle steering system |
| EP0953493A1 (en) * | 1997-08-26 | 1999-11-03 | Koyo Seiko Co., Ltd. | Power steering device |
| CN204688199U (en) * | 2015-06-18 | 2015-10-07 | 西安航空学院 | A kind of electronlmobil hydraulic power-assist steering system |
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| CN105216859A (en) | 2016-01-06 |
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