CN105235741B - A kind of variable automobile gearratio steering based on hydraulic system - Google Patents
A kind of variable automobile gearratio steering based on hydraulic system Download PDFInfo
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- CN105235741B CN105235741B CN201510765435.XA CN201510765435A CN105235741B CN 105235741 B CN105235741 B CN 105235741B CN 201510765435 A CN201510765435 A CN 201510765435A CN 105235741 B CN105235741 B CN 105235741B
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Abstract
The present invention devises a kind of variable automobile gearratio steering based on hydraulic system, which can obtain hand-power feedback in time while having the advantages that control is accurate.Device is by steering wheel (1), steering spindle (2), Mechanical Driven input module (5), hydraulic circuit module (20), electromagnetism part flow arrangement assembly (13), oil line pipe (17), steering pump (19), oil pressure sensor (22), electromagnetic flow control valve (21), turn to execution module (15), wheel steering angle sensor (16) electronic control unit (10), gear shaft (4), rack (23), rotary valve (3), left power cylinder (18), right power cylinder (6), left two-level oil cylinder (14), right two-level oil cylinder (9), electromagnetic control apparatus (11), dividing pot (12), track rod (8), piston (7) is formed.By the control of electronic control unit and the implementation of electronics part flow arrangement, The hydraulic oil is adjusted, to change steering gear ratio, realizes and turns to accurate control.
Description
Technical field
The present invention relates to a kind of steering based on line control system and hydraulic system, and transmission ratio-variable, belong to automobile
Steering technique field.
Background technology
Electronically controlled steering-by-wire has control accurate, is quick on the draw, responds the advantages that fast, can be effectively improved driving
Characteristic, improves control stability, increases the security performance of automobile.But due to the limitation of inorganic tool input so that hand-power is fed back
Need the simulation of additional motor.Therefore a big difficult point of steering-by-wire development is become to the real-time accurate simulation of road feel.
The present invention devises a kind of variable ratio steering system based on hydraulic system, is filled by mechanical system and hydraulic pressure
Put and be combined, obtain accurate abundant ground feedback in time, make up the deficiency that existing electric line control turns to.Pass through electronic control
Unit realized by control to hydraulic circuit oil mass it is independent and accurately Stroke Control, to play the advantage of steering-by-wire.Should
Hydraulic power system in device has the characteristics that size is small, compact-sized, quality is small, and the damping action of fluid can absorb road
Face is impacted, and improves service life.Since hydraulic power-assist steering system has been popularized and using extensive, relevant production technology
And design standard is more complete, thus the present invention is realisation with higher market.
The content of the invention
The purpose of the present invention is the realization of new variable ratio steering is completed by following measure.Make full use of
Steering-by-wire can the force transfering characteristic that turns to of free design vehicle and angle transmission characteristic superiority, and it is steady to combine hydraulic drive
It is fixed, can go smoothly force feedback the advantages of, control stroke to realize that two deflecting rollers turn under any operating mode by electromagnetism part flow arrangement
The optimization of corner is taken turns, while obtains suitable force feedback.Abrasion during steering can be reduced by this device, reduces resistance, most
The control stability driven is improved eventually.
The variable ratio steering system based on hydraulic system, its composition include steering wheel 1, steering spindle 2, Mechanical Driven
Input module 5, hydraulic circuit module 20, electromagnetism part flow arrangement assembly 13, oil line pipe 17, steering pump 19, oil pressure sensor
22nd, electromagnetic flow control valve 21, steering execution module 15,16 electronic control unit 10 of wheel steering angle sensor, gear shaft 4, tooth
Bar 23, rotary valve 3, left power cylinder 18, right power cylinder 6, left two-level oil cylinder 14, right two-level oil cylinder 9, electromagnetic control apparatus 11, shunting
Pot 12, track rod 8, piston 7 are formed；Wherein, steering wheel 1, steering spindle 2 and Mechanical Driven input module 5 by spline into
Row axis connection, hydraulic circuit module 20 are connected by oil line pipe with Mechanical Driven input module 5；Turn to the one of execution module 15
End is bolted on vehicle frame, and steering pump 19 is connected with hydraulic circuit, is bolted on vehicle frame；Electromagnetism shunts
Piston rod in assembly of devices 13 is connected by screw thread with turning to execution module 15, and carried out by screw thread fastening glue it is locking,
It is connected by two oil line pipes 17 with Mechanical Driven input module 5.
In some embodiments, wherein in Mechanical Driven input module 5, by spline by steering spindle 2 and 4 phase of gear shaft
Connection, its middle rack 23 are engaged with gear shaft 4, and are attached rack 23 and piston 7 by being interference fitted；Device has left dynamic
Power cylinder 18 and right power cylinder 6, hydraulic piston is assemblied among power cylinder, and is designed to given shape and size；Oil line pipe 17
It is connected with left and right power cylinder 18,6 and is fixed by oil pipe geometrical clamp.
In some embodiments, wherein hydraulic circuit module 20 is made of 7 oil line pipe, that is, oil pipes 1 to oil pipe 7, its
In 3 form complete closed circuits；Closed circuit adapter path is：Steering pump 19, oil pressure sensor 22, rotary valve 3, steering oil
Pump 19.Two oil pipes are connect from rotary valve 3 to be connected with left power cylinder 18 and right power cylinder 6 respectively；From left power cylinder 18 and right power
Cylinder 6 separately connects two oil pipes and is connected respectively with the steering execution module 15 of arranged on left and right sides；All oil circuit connections pass through geometrical clamp
It is fixed；Oil circuit fuel feeding is permanent current state.Power supply device of the system using steering pump 19 as system power-assisted, will be defeated by motor
The electric energy entered is changed into mechanical energy, circulates the oil in hydraulic circuit module 20.Control rotary valve is rotated by steering wheel 1,
Realize the control to oil circuit opening and closing, make to produce pressure in oil circuit, promote piston 7 to move to realize the effect of power-assisted steering.Pass through
Electronic control module 10 controls the aperture of electromagnetic flow control valve 21, to control the flow of fuel feeding in oil circuit, and then realizes to helping
The control of power size, to obtain excellent force transfering characteristic
In some embodiments, wherein electromagnetism part flow arrangement assembly 13 is by electromagnetic control apparatus 11, dividing pot 12, two level
Oil cylinder 9,14, piston composition, are controlled by electronic control unit 10, and electronic control unit 10 is by turning related sensor wheel
The data that angle transducer 16, oil pressure sensor 22 etc. obtain are analyzed and processed, and determine to obtain electromagnetism part flow arrangement shunt volume
Size, controls stroke size, finally to realize the accurate control of steering transmission ratio-variable and wheel steering angle.When the device not
When having an effect, piston in Mechanical Driven input module 5 is on a left side, and the stroke of right two power cylinders is identical, thus the two level of side
Piston in oil cylinder 14 is upheld, while the piston in opposite side two-level oil cylinder 9 is shunk with identical displacement.During being somebody's turn to do, turn to
System completes main turning function with the will of driver.It is total that hydraulic oil in normal pressure oil circuit can flow into electromagnetism part flow arrangement
Into in 13.Device receives the control signal that electronic control unit 10 transmits, and changes 12 body of dividing pot by electromagnetic control apparatus 11
Product, so that the hydraulic oil fuel delivery in two-level oil cylinder be adjusted, that is, adjusts the stroke of the piston in cylinder
In some embodiments, wherein turn to execution module 15 promotes vehicle wheel rotation, wherein two level using two-level oil cylinder
A part of the oil cylinder as electromagnetism part flow arrangement assembly 13；Two-level oil cylinder is connected with wheel by track rod 8, connector at two
The change of bolt mating connection stroke is played using flexural pivot and plug changes the displacement of drag link, and then realizes to two-wheeled steering angle
Independent control.The Secondary Control that the device coordinates electromagnetism part flow arrangement to carry out makes to obtain optimal interior foreign steamer during motor turning
Angle relation, smoothes out steering, to improve the control stability of vehicle traveling.Due to having broken away from the limitation of mechanical structure, thus
The corner of one side wheel can reach ± 70 degree.Vehicular turn is more flexible
Brief description of the drawings
Attached drawing gives a kind of structure diagram of the variable automobile gearratio steering based on hydraulic system
Fig. 1 is the general illustration of the variable automobile gearratio steering of the invention based on hydraulic system
Fig. 2 is the office of the Mechanical Driven input module of the variable automobile gearratio steering of the invention based on hydraulic system
Portion's sectional view
Fig. 3 is the hydraulic circuit module 3-D view of the variable automobile gearratio steering of the invention based on hydraulic system
Fig. 4 is the hydraulic circuit module schematic diagram of the variable automobile gearratio steering of the invention based on hydraulic system
Fig. 5 is the partial cutaway of the electromagnetism part flow arrangement of the variable automobile gearratio steering of the invention based on hydraulic system
View
Fig. 6 is that the steering execution module three-dimensional of the variable automobile gearratio steering of the invention based on hydraulic system regards
Figure, it is by taking Length discrepancy double wishbone suspension as an example
Fig. 7 is the power transmission line schematic diagram of the variable automobile gearratio steering of the invention based on hydraulic system
Fig. 8 is the electronic control system control route of the variable automobile gearratio steering of the invention based on hydraulic system
Figure
Embodiment
Referring to the drawings shown in 1, the present invention is the variable automobile gearratio steering based on hydraulic system.The device have with
Lower part forms：Steering wheel 1, steering spindle 2, Mechanical Driven input module 5, hydraulic circuit module 20, electromagnetism part flow arrangement assembly
13rd, oil line pipe 17, steering pump 19, oil pressure sensor 22, electromagnetic flow control valve 21, steering execution module 15, wheel turn
16 electronic control unit 10 of angle transducer, gear shaft 4, rack 23, rotary valve 3, left power cylinder 18, right power cylinder 6, left two-level oil cylinder
14th, right two-level oil cylinder 9, electromagnetic control apparatus 11, dividing pot 12, track rod 8, piston 7 are formed.Wherein steering wheel, turns to
Oil pump and related sensor can be purchased commercially.
Referring to the drawings shown in 2, Mechanical Driven input module 5 is by gear shaft 4, rack 23, left power cylinder 18, right power cylinder 6,
Piston 7 forms.Driver is passed through torque in 2 input unit of steering spindle by steering wheel rotation.By gear shaft 4 with moving teeth
Bar 23, makes it produce the movement of rectilinear direction, drives piston rod to promote piston 7 to move.By above procedure, so that power leads to
Cross oil pressure and spread out of the device.It is equipped with power cylinder into and out of hydraulic fluid port, by the foundation of oil pressure, realizes the reinforcing of power-assisted steering
Process.
Referring to the drawings shown in 3 and attached drawing 4, hydraulic circuit module 20 is made of 7 oil line pipe, that is, oil pipes 1 to oil pipe 7, its
In 3 form complete closed circuits；Closed circuit adapter path is：Steering pump 19, oil pipe 2, oil pressure sensor 22, oil pipe 3,
Rotary valve 3, oil pipe 1, steering pump 19.Oil pipe 4 is connect from rotary valve 3 to be connected with left power cylinder 18, is connect oil pipe 5 and is connected with right power cylinder 6
Connect；Oil pipe 6, oil pipe 7 are connect from left power cylinder 18 and right power cylinder 6 to be connected with the two-level oil cylinder 9,14 of arranged on left and right sides respectively；It is all
Oil circuit connection is fixed by geometrical clamp；Oil circuit fuel feeding is permanent current state.When rotary valve 3 is rotated with steering wheel 1, by controlling oil
The opening and closing on road and establish pressure differential, piston is moved in the horizontal direction, to play power steering.Pass through electronic control module
The aperture of electromagnetic flow control valve is controlled, to control the flow of fuel feeding in oil circuit, and then realizes the control to power-assisted size.
Referring to the drawings shown in 5, electromagnetism part flow arrangement 13 is living by electromagnetic control apparatus 11, dividing pot 12, two-level oil cylinder 9,14
The composition of plug 7.Electronic control unit to related sensor by including steering wheel angle variable quantity, speed and engine speed, work
Make the data that oil circuit working status etc. obtains to be analyzed and processed, determine to obtain the shift motion of electromagnetic control apparatus 11.As schemed,
Electromagnetic control apparatus is determined by current control, shift motion size by size of current.By varying in stroke adjustment dividing pot 12
Volume size, and then shunting oil mass size in control device.The final purpose of the device is to realize in two-level oil cylinder 9,14
The control of piston stroke, realizes Secondary Control.
Referring to the drawings shown in 6, turn to execution module 15 and vehicle wheel rotation, wherein two-level oil cylinder are promoted using two-level oil cylinder 9,14
9th, 14 part as electromagnetism part flow arrangement assembly 13.Two-level oil cylinder 9,14 is connected with wheel by track rod 8, at two
Connector plays bolt using flexural pivot and plug and is connected.When piston is promoted by oil pressure produces mobile, piston rod transverse shifting, band
Dynamic track rod 8 moves, so as to promote knuckle arm, deflects deflecting roller, and go to action is realized.
It is the power transmission line schematic diagram of the present apparatus referring to the drawings shown in 7.Electronic control unit receives each sensor and passes
The signal come includes steering wheel angle variable quantity, speed and engine speed, working oil path working status etc., controls, changes accordingly
Become the aperture of electromagnetic flow control valve, so as to adjust the size of power steering in Mechanical Driven input module 5.When steering wheel 1 is right
When turning, the control of rotary valve 3 produces pressure differential, oil line pipe right side high pressure, left side low pressure, high pressure oil injection, the outflow of normal pressure oil equivalent
Make left and right two power cylinder 18,6 strokes identical, and the pressure differential of two power cylinders 18,6 generation is transmitted to via oil line pipe 17 and is
The two-level oil cylinder 9,14 of system end.Piston movement under force in two-level oil cylinder 9,14, drives track rod to complete to turn to.
Referring to the drawings shown in 8, route map is controlled for electronic control unit.The phase that electronic control unit will be calculated at this time
Hope direction information synthesis end rotation angular sensing information carry out analytic operation, draw the respective optimal stroke of Liang Ge two-level oil cylinders.It is logical
The volume of dividing pot in control electromagnetism part flow arrangement assembly is crossed, to interfere stroke of the piston in Liang Ge two-level oil cylinders, controls car
Take turns steering angle.By realizing the optimization of two deflecting rollers steering wheel angle under any operating mode, to reduce tire wear and energy
Loss.At the same time by the control to electromagnetic flow control valve, to realize the control to power-assisted size.
Claims (2)
1. a kind of variable automobile gearratio steering based on hydraulic system, including steering wheel (1), Mechanical Driven input module
(5), hydraulic circuit module (20), electromagnetism part flow arrangement assembly (13), steering pump (19), oil pressure sensor (22), electromagnetic current
Control valve (21), turn to execution module (15), wheel steering angle sensor (16), electronic control unit (10), rotary valve (3) structure
Into；It is characterized in that, in the Mechanical Driven input module (5), steering spindle (2) is connected with gear shaft (4) by spline
Connect, its middle rack (23) engages with gear shaft (4), and is attached rack (23) and piston (7) by being interference fitted screw thread；
Mechanical Driven input module (5) device has left power cylinder (18) and right power cylinder (6), and hydraulic piston is assemblied among power cylinder,
And the size for designing piston head makes the matching relationship of itself and the inner wall of power cylinder coordinate for transition；Oil line pipe (17) with it is left and right
Power cylinder (18) (6) is connected and fixed by oil pipe geometrical clamp；
The hydraulic circuit module (20) is made of 7 oil line pipes (17), wherein 3 form complete closed circuit；Close back
Road adapter path is：Steering pump (19), oil pressure sensor (22), rotary valve (3), steering pump (19)；Two are connect from rotary valve (3)
Root oil pipe is connected with left power cylinder (18) and right power cylinder (6) respectively；Separately two are connect from left power cylinder (18) and right power cylinder (6)
Oil pipe is connected with the steering execution module (15) of arranged on left and right sides respectively；All oil circuit connections are fixed by geometrical clamp；Oil circuit
Fuel feeding is permanent current state；
The electromagnetism part flow arrangement assembly (13) is by electromagnetic control apparatus (11), dividing pot (12), left and right two-level oil cylinder (9)
(14), piston (7) forms, and is controlled by electronic control unit (10), electronic control unit (10) is by sensing wheel steering angle
The data that device (16), oil pressure sensor (22) obtain are analyzed and processed, and determine to obtain electromagnetism part flow arrangement assembly (13) shunting
The size of amount, controls stroke size, finally to realize the accurate control of steering transmission ratio-variable and wheel steering angle；
The steering execution module (15) promotes vehicle wheel rotation, its middle left and right two level using left and right two-level oil cylinder (9) (14)
A part of the oil cylinder (9) (14) as electromagnetism part flow arrangement assembly (13)；Left and right two-level oil cylinder (9) (14) is led to respectively with wheel
Cross track rod (8) connection, track rod (8) be connected with left and right two-level oil cylinder (9) (14) two at connector use flexural pivot
And plug plays bolt mating connection；
The steering wheel (1) carries out axis connection with Mechanical Driven input module (5) by spline, and hydraulic circuit module (20) passes through
Oil line pipe is connected with Mechanical Driven input module (5)；The one end for turning to execution module (15) is bolted on vehicle frame,
Steering pump is fixed on vehicle frame also by bolt；Piston rod in electromagnetism part flow arrangement assembly (13) is by screw thread with turning to
Execution module (15) connects, and is carried out by screw thread fastening glue locking, and electromagnetism part flow arrangement assembly (13) passes through two oil-way pipes
Road (17) is connected with Mechanical Driven input module (5).
2. variable automobile gearratio steering described in accordance with the claim 1, it is characterised in that：The electromagnetism part flow arrangement is total
Include that the left and right two-level oil cylinder (9) (14) of reciprocating motion of the pistons can be accommodated into (13)；It is common with turning to execution module (15)
Effect, makes wheel hard-over scope to ± 70 ° since no steering mechanism's structure limits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510765435.XA CN105235741B (en) | 2015-11-11 | 2015-11-11 | A kind of variable automobile gearratio steering based on hydraulic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510765435.XA CN105235741B (en) | 2015-11-11 | 2015-11-11 | A kind of variable automobile gearratio steering based on hydraulic system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105235741A CN105235741A (en) | 2016-01-13 |
| CN105235741B true CN105235741B (en) | 2018-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510765435.XA Expired - Fee Related CN105235741B (en) | 2015-11-11 | 2015-11-11 | A kind of variable automobile gearratio steering based on hydraulic system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107310674B (en) * | 2017-06-23 | 2019-05-07 | 山东巴士新能源车业有限公司 | A kind of steering control system applied to electric vehicle |
| CN108896425B (en) * | 2018-05-14 | 2024-04-02 | 吉林大学 | High-speed heavy-load friction and wear testing device and testing method thereof |
| CN110696912A (en) * | 2019-11-22 | 2020-01-17 | 吉林大学 | Multi-mode motor drive steer-by-wire system of passenger vehicle and steering control method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4902309B2 (en) * | 2006-10-13 | 2012-03-21 | 日立オートモティブシステムズ株式会社 | Steering device |
| FR2918029B1 (en) * | 2007-06-27 | 2009-11-20 | Renault Sas | POWER STEERING HYDRAULIC POWER STEERING CIRCUIT AND MOTOR VEHICLE PROVIDED THEREWITH. |
| JP2009119901A (en) * | 2007-11-12 | 2009-06-04 | Hitachi Ltd | Power steering apparatus |
| CN103481944A (en) * | 2013-09-23 | 2014-01-01 | 湖南南车时代电动汽车股份有限公司 | Power-assisted steering system for new energy bus and control method of power-assisted steering system |
| CN103496396B (en) * | 2013-10-12 | 2016-06-29 | 浙江科技学院 | A kind of electricity-saving driving wheel vehicle differential speed servo steering system and control method thereof |
| CN205113432U (en) * | 2015-11-11 | 2016-03-30 | 吉林大学 | Car variable gear ratio a steering system based on hydraulic system |
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