CN105667572B - The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle - Google Patents
The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle Download PDFInfo
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- CN105667572B CN105667572B CN201410668445.7A CN201410668445A CN105667572B CN 105667572 B CN105667572 B CN 105667572B CN 201410668445 A CN201410668445 A CN 201410668445A CN 105667572 B CN105667572 B CN 105667572B
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Abstract
A kind of acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle, the rotary angle transmitter include：Shell and rack, gear shaft and rack displacement acquisition device；The rack is fixedly mounted in the shell, and gear shaft is meshed with the rack, and the centre position of the distribution length of tooth on the rack is arranged, and gear shaft is also connect by steering column with the steering wheel；The rack displacement acquisition device is fixedly mounted in the shell, is suitable for measuring the displacement that the rack is generated with steering wheel rotation.Above-mentioned scheme can save the final assembly lead time of vehicle.
Description
Technical field
The present invention relates to technical field of automobile control, more particularly to a kind of rotary angle transmitter and electric power steering system
The acquisition methods of system, steering wheel angle.
Background technology
Automobile steering system includes a series of devices for changing or keeping automobile advance or reverse direction.Motor turning
The function of system is exactly that the travel direction of automobile is controlled according to the wish of driver.Driving safety of the automobile steering system to automobile
It is most important, it is that automotive safety has to the important assembly paid attention to, its main function is the traveling for changing or keeping automobile
Direction.
Electric boosting steering system (Electrical Power Steering, EPS) is that one kind is directly carried by motor
For the power steering system of auxiliary torque, mainly by torque sensor, vehicle speed sensor, motor, deceleration mechanism and electronics
The compositions such as control unit (Electronic Control Unit, ECU).With traditional hydraulic power-assist steering system
(Hydraulic Power Steering, HPS) is compared, and EPS system can effectively save vehicle fuel consumption and can be real
The stability of portability and high speed steering and direction controlling when existing vehicle low speed turns to, the application on vehicle also gradually increase
It is more.
In order to realize that steering wheel actively returns just and rack end defencive function, EPS need to receive steering wheel angular signal, sentence
The corner of disconnected steering wheel and position.Currently, the source that EPS receives the angular signal of steering wheel has two：First, turning from steering wheel
Angle transducer, second is that from the rotary angle transmitter built in EPS.
But the rotary angle transmitter either built in steering wheel angle sensor or EPS, it is required to when vehicle is offline
Zero positioning is carried out, the general assembly progress of vehicle is affected.
Invention content
What the embodiment of the present invention solved is how to determine the zero-bit of rotary angle transmitter, to save the final assembly lead time of vehicle.
To solve the above problems, an embodiment of the present invention provides a kind of novel steering wheel angle sensors, including：
Shell and rack, gear shaft and rack displacement acquisition device；
The rack is fixedly mounted in the shell, and gear shaft is meshed with the rack, and is arranged in the rack
The centre position of the distribution length of upper tooth, gear shaft are also connect by steering column with the steering wheel；
The rack displacement acquisition device is fixedly mounted in the shell, is suitable for measuring the rack with the direction
The displacement that disk rotation generates.
Optionally, the rack displacement acquisition device includes grating and grating inductor；
The grating setting is correspondingly arranged on the rack side surface, and with the tooth on the rack；
The grating inductor is installed in the inner walls, and positioned at the surface of the grating.
Optionally, the length of the grating is equal with the distribution length of tooth on the rack.
The embodiment of the present invention additionally provides a kind of electronic power assist steering system, the above-mentioned rotary angle transmitter of the system.
The embodiment of the present invention additionally provides a kind of acquisition methods of steering wheel angle, the method includes：
The displacement of rack is obtained using rack displacement acquisition device；
The displacement of rack acquired in the rack displacement acquisition device, calculates the steering wheel angle.
Optionally, the steering wheel angle is calculated using following formula：
c1=360*a/b；
Wherein, c1For the steering wheel angle, a is the displacement of the rack, and b is line angle transmission ratio.
Optionally, the method further includes：
The steering wheel angle being calculated is compared with the steering wheel angle being calculated according to motor position；
When the difference between the steering wheel angle being calculated and the steering wheel angle being calculated according to motor position is small
When preset threshold value, the steering wheel angle that is calculated using the steering wheel angle being calculated or according to motor position as
Final steering wheel angle；
When the difference between the steering wheel angle being calculated and the steering wheel angle being calculated according to motor position is big
When preset threshold value, the steering wheel angle being calculated is judged respectively and calculates the side obtained according to motor position
It is whether effective to disk corner；
It, will be effective when the steering wheel angle being calculated or effective steering wheel angle being calculated according to motor position
Steering wheel angle as final steering wheel angle；
When judge the steering wheel angle that is calculated and calculated according to motor position the steering wheel angle obtained it is effective when,
Issue fault warning information.
Optionally, the steering wheel angle being calculated according to motor position, including：
c2=θ/r；
Wherein, c2For steering wheel angle, θ is the rotational angle for the motor that motor position sensor measures, and r is worm and gear
Transmission ratio
Compared with prior art, technical scheme of the present invention has the following advantages that：
Due to forming the rotary angle transmitter of steering wheel, and gear shaft using rack, gear shaft and rack displacement acquisition device
It is meshed with the rack, and the centre position of the distribution length of tooth is set on rack, it can be by the distribution length of tooth on rack
Zero-bit of the centre position as rotary angle transmitter, without carrying out the zero-bit of rotary angle transmitter again during vehicle general assembly
Correction, therefore, can save the final assembly lead time of vehicle.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of rotary angle transmitter in the prior art；
Fig. 2 is the enlarged structure schematic diagram of rotary angle transmitter shown in FIG. 1；
Fig. 3 is the cross-sectional view of the rotary angle transmitter in the embodiment of the present invention；
Fig. 4 is the amplification profile structural schematic diagram of rotary angle transmitter shown in Fig. 3；
Fig. 5 is the flow chart of the acquisition methods of the steering wheel angle in the embodiment of the present invention.
Specific implementation mode
In the prior art, a kind of steering wheel angle sensor may include：Gear wheel, the first pinion gear, the second pinion gear
And processing circuit, wherein gear wheel is coaxial with steering column and is fixed on steering column, the first pinion gear and the second pinion gear
It is meshed respectively with gear wheel, and the number of teeth difference 1 between the first pinion gear and the second pinion gear.
When steering wheel rotates, gear wheel drives the first pinion gear and second also with steering column synchronous rotary
Pinion rotation, the first pinion gear and the second pinion gear acquire the corner that each is rotated with steering wheel respectively.Due to two
The number of teeth of first pinion gear and the second pinion gear differs one, and the different number of turns will differ specific angle, so passing through place
Manage circuit by pinion gear and rotational angle carry out comparing calculation, steering wheel angle can be obtained.
It is desirable to after carrying out Zero positioning, EPS controllers receive the letter of the corner from steering wheel angle sensor again
Number, and steering wheel return orthofunction and steering rack end defencive function etc. are realized according to the angular signal.If without
The Zero positioning of rotary angle transmitter is then likely to occur steering wheel angle signal error or can not normally send asking for angular signal
Topic.The zero-bit needs of steering wheel angle sensor are demarcated in vehicle general assembly, and accordingly, there exist waste vehicle final assembly lead times
The problem of.
To solve the above-mentioned problems in the prior art, technical solution used in the embodiment of the present invention is by will be by gear
Axis is meshed with the centre position of the distribution length of tooth on the rack, you can the centre position is positioned as rotary angle transmitter
Zero degree position (zero-bit), without carrying out zero degree position one by one to each rotary angle transmitter again during vehicle general assembly
Calibration, thus can effectively save the time of vehicle general assembly, improve the production efficiency of vehicle.
To make the above purposes, features and advantages of the invention more obvious and understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Fig. 1 is a kind of structural schematic diagram of rotary angle transmitter in the prior art；Fig. 2 is rotary angle transmitter shown in FIG. 1
Enlarged structure schematic diagram；Fig. 3 is the cross-sectional view of the rotary angle transmitter in the embodiment of the present invention；Fig. 4 is shown in Fig. 3
Rotary angle transmitter amplification profile structural schematic diagram.Rotary angle transmitter as Figure 1-Figure 4 may include：Shell 21, with
And rack 22, gear shaft 23 and rack displacement acquisition device.Wherein：
Rack 22 is fixedly mounted in shell 21, and gear shaft 23 is meshed with rack 22, and the tooth on rack 22 is arranged
The centre position of distribution length, and gear shaft 23 also passes through steering column (not shown) and steering wheel (not shown) phase
Connection.
Rack displacement acquisition device is fixedly mounted in shell 21, is suitable for measuring the rack as the steering wheel rotates
The displacement of generation.
In specific implementation, rack displacement acquisition device may include grating 24a and grating inductor 24b.Grating 24a is set
It sets on the side surface of rack 22, and is correspondingly arranged with the tooth on rack 22, point of the length of grating and tooth on the rack 22
Cloth length is equal.Grating inductor 24b is fixedly mounted on the inner wall of shell 21, and positioned at the surface of grating 24a.
The embodiment of the present invention additionally provides a kind of electronic power assist steering system, and the system comprises above-mentioned rotation angular sensings
Device.
Fig. 5 shows a kind of flow chart of the acquisition methods of steering wheel angle in the embodiment of the present invention.Below in conjunction with figure
2, the operation principle of Fig. 1-rotary angle transmitters shown in Fig. 4 is described in further detail.Steering wheel angle as described in Figure 3
Acquisition methods, may include：
Step S51：The displacement of rack is obtained using rack displacement acquisition device.
In specific implementation, the displacement of rack 22 can be obtained by rack displacement acquisition device.
As shown in Fig. 2, gear shaft 23 is meshed with rack 22, and the interposition of the distribution length of tooth on rack 22 is set
It sets, i.e., the zero degree position of the described rotary angle transmitter, and gear shaft 23 also passes through steering column (not shown) and steering wheel phase
Connection.
When steering wheel rotates, rotated by steering column band movable gear shaft 23.Gear shaft 23 and the tooth phase on rack 22
Engagement, therefore, the rotation of gear shaft 23 can make rack 22 generate corresponding displacement.
Specifically, since grating 24a is arranged on the side surface of rack 22, the distribution phase of grating 24a and tooth on rack 22
It is corresponding and equal with the distribution length of tooth on rack.When rack 22 moves, grating 24a will produce position identical with rack 22
It moves.Therefore, the displacement of grating 24a, grating 24a can be obtained by the grating inductor 24b being arranged right over grating 24a
Displacement i.e. rack 22 displacement.
Since grating 24a and grating inductor 24b have the advantages that precision is high, signal is reliable, by by grid 24a and grating
The rack displacement acquisition device of inductor 24b compositions can reliably, accurately obtain the position that rack 22 is generated with steering wheel rotation
It moves, so as to improve the accuracy and reliability for the steering wheel angle being calculated by rack displacement.
Step S52：The displacement of rack acquired in the rack displacement acquisition device calculates the steering wheel and turns
Angle.
In specific implementation, following formula may be used and calculate the steering wheel angle：
c1=360*a/b (1)；
Wherein, c1For the steering wheel angle, a is the displacement of rack 22, and b is line angle transmission ratio.
The line angle transmission ratio is the displacement that one circle hour rack 22 of the rotation of gear shaft 23 generates.
In specific implementation, in order to further accurately obtain the angular signal of steering wheel, steering wheel as shown in Figure 3 turns
The acquisition methods at angle can also include：
Step S53：The steering wheel angle being calculated by the steering wheel angle being calculated and according to motor position
It is compared.
In specific implementation, following formula may be used, steering wheel angle is calculated：
c2=θ/r (2)；
Wherein, c2For steering wheel angle, θ is the rotational angle for the motor that motor position sensor measures, and r is worm and gear
Transmission ratio.
Step S54：Judge whether the difference between both direction disk corner is less than preset threshold value.
Since formula (1) and (2) are that both direction disk corner is separately calculated, two obtained sides
May be consistent or inconsistent to disk corner, at this point it is possible to obtained both direction disk corner is compared, and can root
According to result of the comparison, final steering wheel angle is determined.
When judging result is yes, step S55 can be executed；When judging result is no, step S56~S58 can be executed.
Step S55：The steering wheel angle being calculated by the steering wheel angle being calculated or according to motor position is made
For final steering wheel angle.
In specific implementation, the difference between obtaining obtained both direction disk corner by comparing is less than preset
When threshold value, the difference between both direction disk corner in allowed limits, illustrates that both direction disk corner can be reliable, can be with
One of them is chosen as final steering wheel angle, you can with by the steering wheel angle being calculated or according to motor position
The steering wheel angle being calculated, as final steering wheel angle.
Step S56：Judge both direction disk angular signal whether effectively.
In specific implementation, when the steering wheel angle being calculated and the steering wheel angle being calculated according to motor position
When difference between the two is more than preset threshold value, it can be said that at least one is unreliable in bright both direction disk corner
's.At this point it is possible to judge whether acquired both direction disk angular signal is reliable, with the steering wheel angle that determination is final.
It is being embodied, the validity signal of the steering wheel angle being calculated can obtained, when acquired has
When effect property signal is effective, it can be determined that the steering wheel angle signal being calculated is reliable.Conversely, when acquired effective
Property signal be it is invalid when, it can be determined that the steering wheel angle signal being calculated is unreliable.
Similarly, can by obtaining the validity signal of the steering wheel angle being calculated according to motor position, when
When acquired validity signal is effective, it can be determined that the steering wheel angle signal being calculated according to motor position can
It leans on.Conversely, then may determine that the steering wheel angle signal being calculated according to motor position is unreliable.
In specific implementation, when judging result is no, step S57 can be executed；When judging result is to be, can hold
Row step S58.
Step S57：When the steering wheel angle being calculated or the steering wheel angle being calculated according to motor position are effective
When, using effective steering wheel angle as final steering wheel angle.
In specific implementation, by judging to determine whether obtained both direction disk angular signal is reliable, and
Effective steering wheel angle be will be deemed as final steering wheel angle.
Step S58：Issue fault warning information.
In specific implementation, when judging that both direction disk angular signal is effective, at this point it is possible to illustrate to have occurred event
Barrier, to notify relevant personnel, can be taken appropriate measures by way of issuing fault warning information.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in computer readable storage medium, and storage is situated between
Matter may include：ROM, RAM, disk or CD etc..
The method and system of the embodiment of the present invention are had been described in detail above, the present invention is not limited thereto.Any
Field technology personnel can make various changes or modifications without departing from the spirit and scope of the present invention, therefore the guarantor of the present invention
Shield range should be subject to claim limited range.
Claims (6)
1. a kind of acquisition methods of steering wheel angle, which is characterized in that including：
Step S51 obtains the displacement of rack using rack displacement acquisition device；
Step S52, the displacement of the rack acquired in the rack displacement acquisition device, calculates the steering wheel angle；
Step S53, by the steering wheel angle being calculated according to the displacement of rack and the direction being calculated according to motor position
Disk corner is compared；
Step S54 judges the steering wheel angle that the displacement according to rack is calculated and the side being calculated according to motor position
Whether it is less than preset threshold value to the difference between disk corner, if so, step S55 is executed, if it is not, executing step S56；
Step S55, the side being calculated by the steering wheel angle being calculated according to the displacement of rack or according to motor position
To disk corner as final steering wheel angle；
Step S56 judges that the steering wheel angle that the displacement according to rack is calculated is calculated with according to motor position respectively
Steering wheel angle it is whether effective, if in the two only have one it is effective, execute step S57, if the two is effective, execute step
S58；
Step S57, using effective steering wheel angle as final steering wheel angle；
Step S58 issues fault warning information.
2. a kind of acquisition methods of steering wheel angle according to claim 1, which is characterized in that the step S51 is by turning
Angle transducer executes, and the rotary angle transmitter includes：The shell and rack, the gear shaft and rack displacement obtain dress
It sets；
The rack is fixedly mounted in the shell, and gear shaft is meshed with the rack, and tooth is arranged on the rack
Distribution length centre position, gear shaft also connect by steering column with steering wheel；
The rack displacement acquisition device is fixedly mounted in the shell, is suitable for measuring the rack as the steering wheel turns
The displacement of movable property life.
3. the acquisition methods of steering wheel angle according to claim 2, which is characterized in that the rack displacement acquisition device
Including grating and grating inductor；
The grating setting is correspondingly arranged on the rack side surface, and with the tooth on the rack；
The grating inductor is installed in the inner walls, and positioned at the surface of the grating.
4. the acquisition methods of steering wheel angle according to claim 3, which is characterized in that the length of the grating with it is described
The distribution length of tooth is equal on rack.
5. the acquisition methods of steering wheel angle according to claim 1, which is characterized in that calculate institute using following formula
State the steering wheel angle being calculated according to the displacement of rack：
c1=360*a/b；
Wherein, c1For the steering wheel angle that the displacement according to rack is calculated, a is the displacement of the rack, and b is line angle
Transmission ratio.
6. the acquisition methods of steering wheel angle according to claim 1, which is characterized in that calculate institute using following formula
The steering wheel angle being calculated according to motor position is stated, including：
c2=θ/r；
Wherein, c2For the steering wheel angle being calculated according to motor position, θ is the motor that motor position sensor measures
Rotational angle, r is worm gear transmission ratio.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410668445.7A CN105667572B (en) | 2014-11-20 | 2014-11-20 | The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle |
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| CN201410668445.7A CN105667572B (en) | 2014-11-20 | 2014-11-20 | The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle |
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| CN105667572B true CN105667572B (en) | 2018-08-21 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10011296B2 (en) * | 2016-11-22 | 2018-07-03 | Ford Global Technologies, Llc | Synchronizing vehicle steering |
| CN106839970B (en) * | 2017-02-23 | 2018-01-19 | 吉林大学 | A kind of steering wheel angle measurement apparatus and method for driving data acquisition system |
| JP7131345B2 (en) * | 2017-12-14 | 2022-09-06 | トヨタ自動車株式会社 | steering system |
| CN110497961B (en) * | 2019-08-26 | 2021-04-20 | 北京汽车股份有限公司 | Intermediate position aligning system and method for steering gear |
| CN112918557A (en) * | 2019-12-06 | 2021-06-08 | 北京新能源汽车股份有限公司 | Control method, controller, system and vehicle for steering wheel aligning reminding |
| CN114312987B (en) * | 2020-09-09 | 2023-11-03 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN114013499B (en) * | 2021-10-29 | 2023-02-21 | 北京汽车研究总院有限公司 | Transverse control system and method for unmanned formula racing car and vehicle |
| CN114655417A (en) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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| JPH0674048B2 (en) * | 1985-07-10 | 1994-09-21 | 富士重工業株式会社 | Steering angle sensor for vehicle |
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| DE102012219888A1 (en) * | 2012-10-31 | 2014-04-30 | Schaeffler Technologies Gmbh & Co. Kg | Rack for a rack and pinion steering of a motor vehicle |
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| CN102039932A (en) * | 2009-10-13 | 2011-05-04 | 上海航天汽车机电股份有限公司 | Method for measuring steering wheel rotation angle |
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