CN105644617B - The guard method of rack end - Google Patents
The guard method of rack end Download PDFInfo
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- CN105644617B CN105644617B CN201410628281.5A CN201410628281A CN105644617B CN 105644617 B CN105644617 B CN 105644617B CN 201410628281 A CN201410628281 A CN 201410628281A CN 105644617 B CN105644617 B CN 105644617B
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Abstract
This application discloses a kind of guard method of rack end, and protection zone is set at rack both ends, once rack either end enters any protection zone, then reduces the assist torque of electric boosting steering system output；The reduction amount of assist torque was both in direct ratio and in direct ratio with rack displacement speed into one end of the protection zone and the distance between the protection zone starting point with rack.The application it is fast beat steering wheel, it is slow beat two kinds of manipulation operating modes of steering wheel and can significantly improve pilot control experience.
Description
Technical field
The application is related to a kind of control method of the electric boosting steering system of automobile, is utilized more particularly to one kind electronic
Servo steering system protects the method for rack end.
Background technology
Referring to Fig. 1, mechanical steering system on automobile mainly includes steering wheel 11, steering column 12, jackshaft 13, turned
To device 14, track rod 15, knuckle arm 16 and deflecting roller 17.The steering gear 14 is rack and pinion steering gear, built-in
There are rack 141 and little gear 142.When driver turn steering wheel 11, the steering axes built in steering column 12 are driven, should
Steering spindle is connected by jackshaft 13 with little gear 142.Little gear 142 engages with rack 141, so as to turn with carry-over bar 141
To the left or moved right into device 14.Rack 141 and the Hard link of track rod 15, so as to pass through steering by track rod 15
Joint arm 16 applies pulling force or thrust on deflecting roller 17, completes motor turning action.
Referring to Fig. 2, this is the schematic diagram of rack and pinion steering gear.The steering gear 14 has housing 140, in housing
There is rack 141 in 140, the both ends of rack 141 pass through housing 140 and are connected with bulb by rubber blanket 143 (black bars)
144.Little gear 142 is fixed on the fixed position of housing 140 and engaged with rack 141, and little gear 142 rotates will be with carry-over bar
141 to the left or move right in housing 140.Bulb 144 is connected with track rod 15.
Referring to Fig. 3, rack 141 can move between 2 points of A, B, extreme position A, B of its movement travel are referred to as rack
End (Rack End).Because the rack stroke of steering gear 14 and the rotational angle of steering wheel 11 correspond, thus rack end
End i.e. steering wheel 11 go to a kind of operating mode of extreme position.For example, left side rack end A corresponds to the inverse time of steering wheel 11
Pin hard-over, right side rack end B correspond to the hard-over clockwise of steering wheel 11.Due to surrounding the housing of rack 141
140 is fixed, if therefore when steering wheel 11 is close to extreme position driver also firmly manipulate steering wheel 11 be rotated further,
Bulb 144 may be made to hit one end of housing 140.
Fig. 2 and Fig. 3 are referred to, for example, steering wheel 11 still rotates clockwise when close to hard-over clockwise, will
So that rack 141 moves towards right side rack terminal position B, then the bulb 144 in left side will hit the left end of housing 140.
This to hit the mechanical structure damage that may result in steering gear 14, resulting noise also can bring discomfort to driver and crew
Feel.Therefore, rack and pinion steering gear needs to set rack end protection (Rack End Stop, abbreviation RES) function, is
Realize that the function there are two schemes at present.
Existing scheme one is to increase protection device in rack end.Such as in Fig. 2, increase rubber bushing outside bulb 144
20 (dashed rectangles) or nylon or plastics back-up ring, with buffering collision of closed and reduce noise.On the one hand increase protection device can increase
Addition sheet, on the other hand need to consider the intensity of protection device and abrasion and periodically carry out maintenance and replacement, also need in addition in life
Increase the assembly process of protection device during production.
Existing scheme two is realized by electric boosting steering system (Electric Power Steering, abbreviation EPS)
's.
Referring to Fig. 4, this is the electric boosting steering system on automobile.Its base in the mechanical steering system shown in Fig. 1
Added on plinth：
--- rotary angle transmitter 21, such as be arranged on steering column 12, for detecting the corner of steering wheel 11.
--- torque sensor 22, such as be arranged in little gear 142, for detecting the torque of steering wheel 11.
--- ECU (electronic control unit) 23, including Torque Control module and motor control module.Torque Control module is adopted
Collect the corner and torque, speed of steering wheel 11, and calculate corresponding assist torque and export to motor control module.Motor control
Module works assist torque as target torque, output current driving assist motor 24.
--- assist motor 24, on steering column 12 or steering gear 14, it is controlled by ECU 23, passes through reductor
Structure 25 provides assist torque to driver.
--- reducing gear 25, the rotational angle of assist motor 24 is converted into steering column 12 with certain proportion or turned to
The rotational angle of device 14, play a part of slowing down increasing and turn round.If the speed reducing ratio of reducing gear 25 is k, k ＞ 1, then assist motor 24
Rotational angle/k=steering columns 12 or the rotational angle of steering gear 14.
Referring to Fig. 5, it is existing rack end defencive function is realized by electric boosting steering system principle be：Away from
It is left side protection zone to be set at Y length from left side rack end A between left side protection zone starting point M, 2 points of M, A.Away from
It is right side protection zone to be set at Y length from right side rack end B between right side protection zone starting point N, 2 points of N, B.Work as tooth
The either end of bar 141 enters any one protection zone, then shows that rack 141 is moved to close to the side rack end position
Put, that is, steering wheel 11 turns to the hard-over close to some rotation direction, that is, the bulb 145 of opposite side moves to
Close to the other end of housing 140.The assist torque now exported by reducing assist motor 24 operates direction to increase driver
Disk 11 continues on the moment of resistance overcome needed for direction rotation, and being embodied in driver needs with increasing strength
Steering wheel 11 can be operated and continue on the direction and rotate and (or even turn motionless steering wheel 11 completely thus can not reach maximum turn
Angle), it is final to reduce (or avoiding) ball so as to slow down movement velocity of (or stopping) rack 141 towards the side rack terminal position
Shock dynamics between first 144 and housing 140.
In the existing electric boosting steering system without rack end defencive function, if by the driver side of being applied to
It is referred to as F1 to the rotating torque on disk 11, the assist torque that assist motor 24 exports is referred to as F2, and manipulation of physical steering gear 14 turns
Kinetic moment is referred to as F3, then F1+F2=F3.
In the existing electric boosting steering system with rack end defencive function, if driver is applied into direction
Rotating torque on disk 11 is referred to as F1, and the assist torque that assist motor 24 exports is referred to as F2 ', the rotation of manipulation of physical steering gear 14
Torque is referred to as F3, then F1+F2 '=F3.Wherein F2 '=F2-F4, F2 are electric boosted without rack end defencive function
The assist torque that assist motor 24 exports in steering, F4 is the rotating torque for realizing rack end defencive function.F2 ' can be with
It is zero (assist torque is not provided) or negative (assist torque increases the moment of resistance overcome needed for driver turn steering wheel 11).
F4=K*X, K are coefficient, and X is that Fig. 5 middle racks 141 enter one end of some protection zone and between the protection zone starting point
Distance.Obviously, once rack 141 enters right side protection zone, then as rack 141 is gradual closer to right side rack end B, X
Increase, F4 increases, F2 ' reduces therewith, so as to reduce assist torque, adds driver and is rotated further required gram of steering wheel 11
The moment of resistance of clothes, it is final to protect bulb 144.It is this it is existing by electric boosted rotation system come realize rack end protect work(
Can method the problem of existing be that feel is not smooth enough, such as it is fast beat and beat the manipulation operating mode that to be two kinds different of steering wheel 11 slowly,
But this method in the protection zone of rack end and does not differentiate between both manipulation operating modes, is embodied in feel and does not become
Change, manipulate and experience bad.
The content of the invention
Technical problems to be solved in this application are to provide a kind of guard method of rack end, electronic particular by controlling
Servo steering system is exported to realize the protection to rack end.
In order to solve the above technical problems, the end guard method of the application rack is that protection zone is set at rack both ends, one
Denier rack either end enters any protection zone, then reduces the assist torque of electric boosting steering system output；Assist torque
Reduction amount was both in direct ratio into one end of the protection zone and the distance between the protection zone starting point with rack, and and rack
Velocity of displacement is in direct ratio.
The end guard method of the application rack is compared with existing scheme one, using software implementation method, close to tooth
Bar end reduces assist torque and causes assist motor not export high current persistently, so as to prevent the too fast protection electricity of motor temperature rise
Machine.The application does not need rubber bushing protection, not only saves Material Cost, at the same save the process of production and time into
This, is also not present the maintenance work after rubber bushing abrasion in actual use.
The end guard method of the application rack introduces rack displacement speed compared with existing scheme two.So as to quick
Steering wheel is beaten when entering rack end, i.e., rack displacement speed when, the reduction amount of assist torque increases sharply.And at a slow speed
Steering wheel is beaten when entering rack end, i.e., when rack displacement speed is slower, the reduction amount of assist torque is slowly increased.So distinguish
Two kinds manipulate operating mode and can significantly improve pilot control impression.
Brief description of the drawings
Fig. 1 is the structural representation of existing automobile mechanical steering；
Fig. 2 is the structural representation of rack and pinion steering gear；
Fig. 3 is the schematic diagram of the rack movement travel of mechanical steering system middle gear rack-type steering gear；
Fig. 4 is the structural representation of existing automobile electric booster steering system；
Fig. 5 is the schematic diagram of the rack movement travel of electric boosting steering system middle gear rack-type steering gear；
Fig. 6 is the comparison schematic diagram of the application and existing scheme when beating steering wheel soon；
Fig. 7 is the comparison schematic diagram of the application and existing scheme when beating steering wheel slowly.
Description of reference numerals in figure：
11 be steering wheel；12 be steering column；13 be jackshaft；14 be steering gear；141 be rack；142 be little gear；
143 be rubber blanket；144 be bulb；15 be track rod；16 be knuckle arm；17 be deflecting roller；20 be rubber bushing；21
For rotary angle transmitter；22 be torque sensor；23 be ECU；24 be assist motor；25 be reducing gear.
Embodiment
The rack end guard method of the application is realized by a kind of control method of electric boosting steering system.
Referring to Fig. 5, it is left side between protection zone starting point M on the left of being set at the Y length apart from left side rack end A, 2 points of M, A
Protection zone.It is right side between protection zone starting point N on the right side of being set at the Y length apart from right side rack end B, 2 points of N, B
Protection zone.When the either end of rack 141 enters any one protection zone, then show that rack 141 is moved to close to should
Side rack terminal position, that is, steering wheel 11 turn to the hard-over close to some rotation direction, that is, opposite side
Bulb 144 moves to the other end close to housing 140.The assist torque now exported by reducing assist motor 24 (can subtract
As low as zero or negative) come increase driver operate steering wheel 11 continue on the direction rotate needed for the moment of resistance that overcomes, specifically
Showing as driver needs to be operated steering wheel 11 with increasing strength and be continued on the direction and rotated (or even completely to turn
Motionless steering wheel 11 thus can not reach hard-over), so as to slow down (or stopping) rack 141 towards the side rack end
The movement velocity of position, the final shock dynamics reduced between (or avoiding) bulb 144 and housing 140.
In the application, if the rotating torque that driver is applied on steering wheel 11 is referred to as F1, assist motor 24 exports
Assist torque be referred to as F2 ", the rotating torque of manipulation of physical steering gear 14 is referred to as F3, then F1+F2 "=F3.Wherein F2 "=
F2-F4-F4 ', F2 are the power-assisteds that assist motor 24 exports in the electric boosting steering system without rack end defencive function
Torque, F4 are the existing rotating torques that rack end defencive function is realized by electric boosted rotation system, and F4 ' is this Shen
It please realize the additional rotation torque of rack end defencive function.F2 " can be zero (not providing assist torque) or negative (power-assisted power
Square increases the moment of resistance overcome needed for driver turn steering wheel 11).F4=K*X, K are coefficient, and X is that Fig. 5 middle racks 141 enter
Enter one end of some protection zone with the distance between with the protection zone starting point.F4 '=P*X/Y*V, P are relevant with speed
Damping gain (this is a fixed coefficient), X be Fig. 5 middle racks 141 enter some protection zone one end with the protection zone
The distance between domain starting point.Y is the length of the protection zone.V is the velocity of displacement of the rack 141 of steering gear 14.Obviously, power-assisted
The reduction amount (F4+F4 ') of torque is both in direct ratio with X and in direct ratio with V.Once rack 141 enters right side protection zone,
Then as rack 141 gradually increases closer to right side rack end B, X, F4 and F4 ' increase, and F2 " reduces therewith, so as to reduce
Assist torque, adds driver and is rotated further the moment of resistance overcome needed for steering wheel 11, final to protect bulb 144.
With it is existing the method for rack end defencive function is realized by electric boosted rotation system compared with, the application tool
There are following features：When beating steering wheel 11 soon, V is larger, once rack 141 enters some protection zone, then F4 ' increases rapidly,
F2 " is rapid therewith to be reduced, and is embodied in driver and is felt that being rotated further the moment of resistance that the needs of steering wheel 11 overcome increases rapidly
Greatly.When beating steering wheel 11 slowly, V is smaller, once rack 141 enters some protection zone, then F4 ' slowly increases, and F2 " delays therewith
It is slow to reduce, it is embodied in driver and feels that being rotated further the moment of resistance that the needs of steering wheel 11 overcome slowly increases.
Referring to Fig. 6, this is when beating steering wheel soon with the speed of 570 degree per seconds, the corner (abscissa) of steering wheel is with driving
The schematic diagram of the moment of resistance (ordinate) overcome needed for the person of sailing.Wherein black circle expression is existing passes through electric boosted rotation system
Unite to realize the method for rack end defencive function, open squares represent the rack end guard method of the application.With -510 degree
Exemplified by, the moment of resistance of existing method is 6.4Nm, and the moment of resistance of the application is 7.4Nm, differs 1Nm.
Referring to Fig. 7, this is when beating steering wheel soon with the speed of 108 degree per seconds, the corner (abscissa) of steering wheel is with driving
The schematic diagram of the moment of resistance (ordinate) overcome needed for the person of sailing.Wherein black circle expression is existing passes through electric boosted rotation system
Unite to realize the method for rack end defencive function, open squares represent the rack end guard method of the application.With -510 degree
Exemplified by, the moment of resistance of existing method is 3.8Nm, and the moment of resistance of the application is 3.9Nm, differs 0.1Nm.
Compare Fig. 6 and Fig. 7 to understand, the application significantly increases resistance when beating steering wheel (i.e. rack fast offset) soon
Square, and slightly add the moment of resistance when playing steering wheel (i.e. rack displacement at a slow speed) slowly.
The preferred embodiment of the application is these are only, is not used to limit the application.Come for those skilled in the art
Say, the application there can be various modifications and variations.All any modifications within spirit herein and principle, made, it is equal
Replace, improve etc., it should be included within the protection domain of the application.
Claims (1)
1. a kind of guard method of rack end, protection zone is set at rack both ends, once rack either end enters any protection
Region, then reduce the assist torque of electric boosting steering system output；It is characterized in that the reduction amount of assist torque was both entered with rack
One end and the distance between the protection zone starting point for entering the protection zone are in direct ratio and directly proportional to rack displacement speed
Example, the reduction amount of assist torque is F4 and F4 ' sums；
The assist torque of assist motor output with rack end defencive function is referred to as F2 ", the rotation of manipulation of physical steering gear
Torque is referred to as F3, wherein F1+F2 "=F3, F4+F4 '=F2-F2 ", and F1 is the rotating torque of driver's application on the steering wheel
Claim, F2 is the assist torque that assist motor exports in the electric boosting steering system without rack end defencive function, and F4 is
The existing rotating torque that rack end defencive function is realized by electric boosting steering system, F4 ' are to realize rack end
The additional rotation torque of defencive function, F4=K*X, K are coefficient, and X is one end and the protection zone into some protection zone
The distance between starting point, F4 '=P*X*V/Y, P are the damping gain relevant with speed, and Y is the length of the protection zone, and V is to turn
To the rack displacement speed of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410628281.5A CN105644617B (en) | 2014-11-10 | 2014-11-10 | The guard method of rack end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410628281.5A CN105644617B (en) | 2014-11-10 | 2014-11-10 | The guard method of rack end |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105644617A CN105644617A (en) | 2016-06-08 |
| CN105644617B true CN105644617B (en) | 2018-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410628281.5A Active CN105644617B (en) | 2014-11-10 | 2014-11-10 | The guard method of rack end |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016225253A1 (en) | 2016-12-16 | 2018-06-21 | Robert Bosch Gmbh | Method for detecting the rack position in a steering system with electric servomotor |
| CN107499375B (en) * | 2017-07-12 | 2020-01-17 | 北京汽车股份有限公司 | Electric power steering system, control method and automobile |
| JP6477986B1 (en) * | 2017-11-22 | 2019-03-06 | 日本精工株式会社 | Control device for electric power steering device |
| CN111086553B (en) * | 2018-10-24 | 2022-03-11 | 蜂巢智能转向系统(江苏)有限公司 | Rack tail end protection method and device and electric power steering system |
| CN110304129A (en) * | 2019-06-24 | 2019-10-08 | 中国第一汽车股份有限公司 | A kind of diverter and vehicle |
| CN110481633B (en) * | 2019-08-21 | 2021-09-10 | 北京汽车股份有限公司 | Vehicle and control method and device of electric power steering system of vehicle |
| CN110550097A (en) * | 2019-09-07 | 2019-12-10 | 新乡艾迪威汽车科技有限公司 | rack stroke self-learning method and rack tail end protection method |
| CN111186481A (en) * | 2020-01-23 | 2020-05-22 | 中国公路车辆机械有限公司 | Lead screw tail end protection method of commercial vehicle EPS |
| CN113104099A (en) * | 2021-05-24 | 2021-07-13 | 奇瑞新能源汽车股份有限公司 | Control method, device and system of electric power steering system and vehicle |
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|---|---|---|---|---|
| CN200999839Y (en) * | 2007-01-29 | 2008-01-02 | 奇瑞汽车有限公司 | Toothed wheel rack bar direction varying device |
| CN202071874U (en) * | 2010-12-27 | 2011-12-14 | 孙利军 | Electric vehicle steering gear assembly |
| CN103818457A (en) * | 2012-11-17 | 2014-05-28 | 重庆龙润汽车转向器有限公司 | Adjustable automobile steering gear |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100816418B1 (en) * | 2002-03-14 | 2008-03-27 | 주식회사 만도 | Rack assist type electric power steering system |
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2014
- 2014-11-10 CN CN201410628281.5A patent/CN105644617B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200999839Y (en) * | 2007-01-29 | 2008-01-02 | 奇瑞汽车有限公司 | Toothed wheel rack bar direction varying device |
| CN202071874U (en) * | 2010-12-27 | 2011-12-14 | 孙利军 | Electric vehicle steering gear assembly |
| CN103818457A (en) * | 2012-11-17 | 2014-05-28 | 重庆龙润汽车转向器有限公司 | Adjustable automobile steering gear |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
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| Publication number | Publication date |
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| CN105644617A (en) | 2016-06-08 |
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