CN106926898B - A kind of line traffic control hydraulic steering system - Google Patents

A kind of line traffic control hydraulic steering system Download PDF

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Publication number
CN106926898B
CN106926898B CN201710291027.4A CN201710291027A CN106926898B CN 106926898 B CN106926898 B CN 106926898B CN 201710291027 A CN201710291027 A CN 201710291027A CN 106926898 B CN106926898 B CN 106926898B
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China
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steering
master cylinder
valve
steering power
switch
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CN106926898A (en
Inventor
李静
王晨
刘鹏
谷贺冲
韩紫云
冯酉楠
董德志
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
    • B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle

Abstract

The invention discloses a kind of line traffic control hydraulic steering system, when overcoming the cost height and steering power-off failure that increase road feel motor belt motor at present is come the problems such as stability difference, it includes steering wheel unit, steering response analogue unit, electronic control unit with turning to execution unit；The hydraulic fluid port of master cylinder first, the hydraulic fluid port of master cylinder second, first switch magnetic valve, second switch magnetic valve, the 3rd switch electromagnetic valve that steering wheel unit simulates master cylinder by steering response are connected with the Single port and steering response analogue unit pipeline of the 4th switch electromagnetic valve；Steering response analogue unit is connected by the oil inlet of steering power master cylinder first on the 3rd switch electromagnetic valve, the another port of the 4th switch electromagnetic valve, the first high-speed switch valve, the Single port of the second high-speed switch valve, steering power master cylinder with the oil inlet of steering power master cylinder second on steering power master cylinder and steering execution unit pipeline；Electronic control unit is connected with steering wheel unit, steering response analogue unit with turning to execution unit electric wire respectively.

Description

A kind of line traffic control hydraulic steering system
Technical field
The invention belongs to a kind of transfer of automobile steering system technical field.More specifically, the present invention relates to A kind of and line traffic control hydraulic steering system.
Background technology
The steering of automobile is an important component in running car system, the function of steering be according to The travel direction of the wish control automobile of driver.The steering of initial automobile is usually mechanical steering, and it is all Force transmission element be all mechanical, and be used as the power source of steering with the muscle power of driver.Due to mechanical steering system structural It is excessively complicated, and driver's hand-power required during steering is larger, it is higher to the load of driver, so being gradually eliminated.With Automotive engineering is updated, and power steering system gradually enters into the visual field of people because its handling maneuver is more laborsaving.At present Widely used in power steering system is electro-hydraulic servo steering system and electric boosting steering system.It is above-mentioned both just Energy required during work is often turned to, only sub-fraction is provided by driver, most of to be carried by hydraulic coupling or motor torque For but above two steering is booster type steering due to it, it is impossible to meet it is vehicle intellectualized at present and nobody Active steering and the automatic parking requirement of driving.
Therefore, people have started the exploration and research to wire-controlled steering system, current automobile steer-by-wire system is usual Performed three major parts of assembly and master controller by steering wheel assembly, steering and formed.Direction is used wherein in steering wheel assembly Disk rotary angle transmitter and torque sensor, carry out real-time monitoring direction plate-like condition, but its torque sensor price for using generally compared with It is expensive, add the cost of a whole set of steering.Due to no longer being mechanically connected between steering wheel and deflecting roller in wire-controlled steering system, So needing to apply road feel information simulation to steering wheel, driver is fed back to this.Existing wire-controlled steering system is typically logical Cross using a road feel motor to produce the simulation torque of road resistance when simulation turns to, but due to adding one in its system Road feel motor, the cost of system is added, and road feel motor is often operated in load condition, can reduce its service life, and Realize road feel accurate simulation satisfy the need electrification machine performance requirement it is also higher, steering drag is to sum up realized by road feel motor It is poor to simulate its economy.And current wire-controlled steering system generally use road feel motor and the bi-motor of steering motor combination Pattern, the wire-controlled steering systems of most of bi-motor patterns its in power-off failure, the phenomenon for turning to failure be present, this will harm To the driving safety of automobile.
Such as China Patent Publication No. CN105128929A, date of publication on December 9th, 2015, patent of invention it is entitled " a kind of intelligent line traffic control electric hydraulic steering system ", the patent of invention discloses a kind of intelligentized automobile line traffic control electric hydraulic steering system And its control method, it simulates road feel and steering wheel return is just passed through steering motor and hydraulic steering gear by road feel motor Realize the steering of wheel.But the system has the following disadvantages：Due to adding road feel motor, the cost of system is added；And road Electrification machine is often operated in load condition, can reduce its service life, and to realize that the accurate simulation of road feel is satisfied the need electrification machine Performance requirement it is also higher, economy is bad；The system is turned by the torque sensor on steering wheel come monitoring direction disk Square, but due to torque sensor price compared with general pull pressure sensor it is more expensive, its volume production cost can increase；And work as During steering motor power-off failure, the phenomenon for turning to failure occurs in the steering, and steering stability is bad.
The content of the invention
The technical problems to be solved by the invention be overcome in existing steering-by-wire technology due to increase road feel motor The cost brought is higher, steering power-off failure when stability is poor, steering response simulation is not accurately accurate with actual steering enough A kind of the problem of degree is not high, there is provided line traffic control hydraulic steering system.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：A kind of described line traffic control hydraulic pressure Steering includes steering wheel unit, steering response analogue unit, electronic control unit with turning to execution unit；
Described steering wheel unit includes steering response simulation master cylinder；
Described steering response analogue unit includes first switch magnetic valve, second switch magnetic valve, the 3rd switch electromagnetism Valve and the 4th switch electromagnetic valve；
Described steering execution unit includes the first high-speed switch valve, the second high-speed switch valve and steering power master cylinder；
Described steering wheel unit simulates the hydraulic fluid port of master cylinder first, steering response simulation master cylinder on master cylinder by steering response On the hydraulic fluid port of master cylinder second, the Single port of first switch magnetic valve, the Single port of second switch magnetic valve, the 3rd switch electromagnetic valve Single port be connected with the Single port and steering response analogue unit fluid pressure line of the 4th switch electromagnetic valve；Steering response simulation is single Member by the another port of the 3rd switch electromagnetic valve, the another port of the 4th switch electromagnetic valve, the first high-speed switch valve one end Mouth, the oil inlet of steering power master cylinder first on the Single port of the second high-speed switch valve, steering power master cylinder and steering power master The oil inlet of steering power master cylinder second on cylinder connects with execution unit fluid pressure line is turned to；Electronic control unit respectively and turn to Disk unit, steering response analogue unit are connected with turning to execution unit electric wire.
Steering wheel unit described in technical scheme also includes steering wheel, steering wheel angle sensor, gear, rack, the One pull pressure sensor and steering spindle；Described steering wheel is arranged on the upper end of steering spindle to be fixedly connected, and gear, which is arranged on, to be turned To the lower end of axle to be fixedly connected, steering wheel angle sensor is arranged in steering spindle, wheel and rack engagement connection, gear The longitudinally asymmetric face of axis of rotation and rack is intersected vertically, and the left end of the right-hand member of rack and the first pull pressure sensor, which is fixed, to be connected Connect, the right-hand member of the first pull pressure sensor is fixedly connected with the left end of steering response simulation master cylinder.
Steering response simulation master cylinder described in technical scheme includes First piston bar, the first spring, master cylinder piston, second Spring, master cylinder body and second piston bar；Described master cylinder piston is arranged in master cylinder body, the right-hand member of First piston bar and master It is fixedly connected at the center of cylinder piston left side, the left end of second piston bar and the company of fixation at the center of master cylinder piston right side Connect, and sealing ring is installed between First piston bar, master cylinder piston and second piston bar and master cylinder body, the first spring and Two springs are set in First piston bar and second piston bar, side joint in the left cylinder wall of the first spring left end and master cylinder body Connection is touched, the first spring right-hand member contacts connection, the left end of second spring and the right-hand member of master cylinder piston with the left side of master cylinder piston Face contact connection, the right-hand member of second spring and the right cylinder wall interior side contacts of master cylinder body connect, First piston bar, second piston Bar, master cylinder piston and master cylinder body rotation conllinear.
First piston bar and second piston bar described in technical scheme are the identical straight rod member of cross sectional dimensions；Institute The first spring for stating and second spring use the identical springs with same elastic characteristic, the first spring and second spring it is initial Length is identical；The two hydraulic fluid ports i.e. hydraulic fluid port of master cylinder first (43) second hydraulic fluid port of master cylinder, master cylinder are provided with described master cylinder body One hydraulic fluid port is located at the right-hand member of master cylinder body, i.e., on the master cylinder body of II chamber of steering response simulation master cylinder, the oil of master cylinder second Mouth is located at the left end of master cylinder body, i.e., on the master cylinder body of I chamber of steering response simulation master cylinder.
Steering response analogue unit described in technical scheme also include the first two-bit triplet solenoid directional control valve, check valve, Second two-bit triplet solenoid directional control valve and linear voltage regulation valve；The Single port of described first switch magnetic valve and the 3rd switch electromagnetism The Single port of valve is connected using fluid pressure line, the P of the other end of first switch magnetic valve and the first two-bit triplet solenoid directional control valve Mouth is connected using fluid pressure line, the A mouths of the first two-bit triplet solenoid directional control valve and the oil-out of check valve and the second two-bit triplet The B ports of solenoid directional control valve are connected using fluid pressure line simultaneously；The B mouths and linear voltage regulation valve of first two-bit triplet solenoid directional control valve Single port and the second two-bit triplet solenoid directional control valve A ports simultaneously using fluid pressure line connect, the oil inlet of check valve with Fuel tank (28) is connected using fluid pressure line, and the other end of linear voltage regulation valve is connected with fuel tank using fluid pressure line；Described second The Single port of switch electromagnetic valve is connected with the Single port of the 4th switch electromagnetic valve using fluid pressure line, second switch magnetic valve it is another Single port is connected with the P mouths of the second two-bit triplet solenoid directional control valve using fluid pressure line.
Electronic control unit described in technical scheme is held with steering wheel unit, steering response analogue unit and steering respectively The connection of row unit electric wire refers to：Described electronic control unit and steering wheel angle sensor, the first pull pressure sensor, first It is switch electromagnetic valve, the first two-bit triplet solenoid directional control valve, second switch magnetic valve, the second two-bit triplet solenoid directional control valve, linear Pressure regulator valve, the 3rd switch electromagnetic valve, the 4th switch electromagnetic valve, the first high-speed switch valve, the second high-speed switch valve, the 5th switch electricity Magnet valve, the 6th switch electromagnetic valve, the second pull pressure sensor, right turn wheel rotary angle transmitter and left steering wheel rotary angle transmitter Terminals, which are adopted, to be run wires to.
Steering execution unit described in technical scheme is also opened including accumulator, overflow valve, motor, hydraulic pump, the 5th Powered-down magnet valve, fuel tank, the 6th switch electromagnetic valve, the second pull pressure sensor, push rod, Automobile Right deflecting roller, right turn wheel corner Sensor, track rod, left steering wheel rotary angle transmitter and automobile left steering wheel；One end of the first described high-speed switch valve Mouthful be connected with the oil inlet of steering power master cylinder second on steering power master cylinder using fluid pressure line, the first high-speed switch valve it is another The oil-out of one end and hydraulic pump is connected using fluid pressure line；On the Single port and steering power master cylinder of second high-speed switch valve The oil inlet of steering power master cylinder first is connected using fluid pressure line, the other end of the second high-speed switch valve and the oil-out of hydraulic pump Connected using fluid pressure line；The motor shaft of described motor is connected with the input shaft end of hydraulic pump, the oil inlet of hydraulic pump It is connected using fluid pressure line with fuel tank, the oil-out of hydraulic pump uses fluid pressure line and the oil-feed port of overflow valve and accumulator Connection, the fuel-displaced port of overflow valve is connected with fuel tank using fluid pressure line.
One end of described steering power master cylinder is connected with vehicle frame or monocoque body ball pivot, steering power master cylinder it is another End is that the right-hand member of steering power main cylinder piston-rod is connected with the left end of the second pull pressure sensor, the second pull pressure sensor Right-hand member is fixedly connected with the left end of push rod, and right-hand member and the track rod of push rod are hinged, and the steering on steering power master cylinder is moved The oil-out of cylinder first of advocating is connected with the Single port of the 6th switch electromagnetic valve using fluid pressure line, and steering power master cylinder second is fuel-displaced Mouth is connected with the Single port of the 5th switch electromagnetic valve using fluid pressure line, the another port of the 5th switch electromagnetic valve and the 6th switch The another port of magnetic valve is connected with fuel tank using fluid pressure line.Track rod is located in steering axle of automobile, turns to horizontal drawing The left and right end of bar is hinged by steeraxle mechanical driving part and automobile left steering wheel with Automobile Right deflecting roller；Right turn rotates Angle transducer is arranged on Automobile Right deflecting roller, and left steering wheel rotary angle transmitter is arranged on automobile left steering wheel.
Steering power master cylinder described in technical scheme includes steering power master cylinder body, steering power master cylinder piston, turned To power main cylinder piston-rod.Described steering power master cylinder piston is arranged in steering power master cylinder body, steering power master cylinder Piston rod is arranged in the steering power master cylinder body on the right side of steering power master cylinder piston, the left end of steering power main cylinder piston-rod Be fixedly connected with the center of steering power master cylinder piston right side, steering power master cylinder piston, power main cylinder piston-rod and turn To between power master cylinder body to be slidably matched, steering power main cylinder piston-rod, steering power master cylinder piston and steering power master Sealing ring, the revolution of steering power master cylinder piston, power main cylinder piston-rod and steering power master cylinder body are housed between cylinder cylinder body Axis collinear, the inner chamber of steering power master cylinder are diverted power master cylinder piston and are divided into I chamber and II chamber from left to right；Described steering Two oil inlets, the respectively oil inlet of steering power master cylinder first and steering power master cylinder second are provided with power master cylinder body Oil inlet, the oil inlet of steering power master cylinder first are located in I chamber cylinder body of steering power master cylinder, the oil-feed of steering power master cylinder second Mouth is in II chamber cylinder body of steering power master cylinder；Two oil-outs are provided with described steering power master cylinder body, respectively For the oil-out of steering power master cylinder first and the oil-out of steering power master cylinder second, the oil-out of steering power master cylinder first, which is located at, to be turned Into I chamber cylinder body of power master cylinder, the oil-out of steering power master cylinder second is located in II chamber cylinder body of steering power master cylinder.
Compared with prior art the beneficial effects of the invention are as follows：
1. a kind of line traffic control hydraulic steering system of the present invention eliminates traditional wire-controlled steering system to simulate road feel Road feel motor, and road feel during using a linear voltage regulation valve to realize steering is accurately simulated, due to eliminating road feel motor, The cost of steering is reduced, and the service life of steering is longer, better economy.
2. a kind of line traffic control hydraulic steering system of the present invention is due to using a linear voltage regulation valve to realize steering Road feel accurately simulate, steering work when the pressure and flow of linear voltage regulation valve are entered by electronic control unit (ECU) Row control, makes linear voltage regulation valve that different damping characteristics be presented, so as to produce the simulation of various road feels, and by using two Individual pull pressure sensor, the feedback control of road feel simulation can be realized, therefore this steering can obtain more accurate road feel Simulation.
3. a kind of line traffic control hydraulic steering system of the present invention is by electronic control unit (ECU) to two high-speed switch valves Carry out PWM controls, so as to realize the accurate control to flow, thus the system turn to when can ensure turn to rapidity and Accuracy；And a steering wheel angle sensor is separately installed with the deflecting roller of vehicle right and left two, it can realize deflecting roller The feedback control of corner, so as to increase steering precision.
4. a kind of line traffic control hydraulic steering system of the present invention can not only meet the power of existing driver's control Formula steering situation, can also meet the steering requirement when DAS line traffic controls active steering and automatic parking operating mode of intelligent vehicle, and it applies model Enclose relatively broad, development prospect is preferable.
5. a kind of line traffic control hydraulic steering system of the present invention is when its steering power-off failure, all magnetic valves by Original position is revert in the effect of spring force, now driver can realize steering in emergency circumstances by rotating steering wheel, its The stability of steering is preferable.
6. a kind of line traffic control hydraulic steering system of the present invention instead of traditional line traffic control by using pull pressure sensor Steering-wheel torque sensor in steering, greatly reduce the production cost of steering, its better economy.
7. a kind of line traffic control hydraulic steering system of the present invention can by using switch electromagnetic valve in normal work The full decoupling of steering wheel and steered wheel is realized, so that greater impact load of the steered wheel during normal direction of rotation will not Be transferred on steering wheel, help to alleviate the tension of driver, and lifted comfortableness of the driver in braking procedure with it is steady It is qualitative.
8. a kind of line traffic control hydraulic steering system of the present invention realizes steering wheel with turning because its steering spindle is shorter Decoupling to wheel, automobile is smaller in injury of the shock rear steering axle to driver, so as to improve travel safety.
9. a kind of line traffic control hydraulic steering system of the present invention, in the case of normal direction of rotation, pilot control, which turns to, to be completed Afterwards, steering wheel has back positive interaction, saves the muscle power of driver, makes steering more convenient and quick.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is a kind of schematic diagram of line traffic control hydraulic steering system structure composition of the present invention；
Fig. 2-1 is the port of the first two-bit triplet solenoid directional control valve in a kind of line traffic control hydraulic steering system of the present invention Schematic diagram；
Fig. 2-2 is the port of the second two-bit triplet solenoid directional control valve in a kind of line traffic control hydraulic steering system of the present invention Schematic diagram；
Fig. 3 is steering situation is shown below to the left in the case of a kind of normal direction of rotation of line traffic control hydraulic steering system of the present invention It is intended to；
Fig. 4 is car after the completion of steering to the left in the case of a kind of normal direction of rotation of line traffic control hydraulic steering system of the present invention Schematic diagram under the positive operating mode of samsara；
Fig. 5 is steering situation is shown below to the right in the case of a kind of normal direction of rotation of line traffic control hydraulic steering system of the present invention It is intended to；
Fig. 6 is car after the completion of steering to the right in the case of a kind of normal direction of rotation of line traffic control hydraulic steering system of the present invention Schematic diagram under the positive operating mode of samsara；
Fig. 7 is steering situation is shown below to the left in the case of a kind of automatic parking of line traffic control hydraulic steering system of the present invention It is intended to；
Fig. 8 is steering situation is shown below to the right in the case of a kind of automatic parking of line traffic control hydraulic steering system of the present invention It is intended to；
Fig. 9 be a kind of line traffic control hydraulic steering system of the present invention DAS line traffic control active steerings in the case of turn to the left Schematic diagram under operating mode；
Figure 10 be a kind of line traffic control hydraulic steering system of the present invention DAS line traffic control active steerings in the case of turn to the right Schematic diagram under operating mode；
Figure 11 turns to work to the left when being a kind of steering power-off failure of line traffic control hydraulic steering system of the present invention Schematic diagram under condition；
Figure 12 turns to the right work when being a kind of steering power-off failure of line traffic control hydraulic steering system of the present invention Schematic diagram under condition；
In figure：1. steering wheel, 2. steering wheel angle sensors, 3. gears, 4. racks, 5. first pull pressure sensor, 6. First piston bar, 7. first springs, 8. master cylinder pistons, 9. second springs, 10. steering responses simulation master cylinder, 11. master cylinder bodies, 12. second piston bar, 13. first switch magnetic valves, 14. first two-bit triplet solenoid directional control valves, 15. check valves, 16. second open Powered-down magnet valve, 17. second two-bit triplet solenoid directional control valves, 18. linear voltage regulation valves, 19. the 3rd switch electromagnetic valves, 20. the 4th open Powered-down magnet valve, 21. first high-speed switch valves, 22. second high-speed switch valves, 23. accumulators, 24. overflow valves, 25. motor, 26. hydraulic pump, 27. the 5th switch electromagnetic valves, 28. fuel tanks, 29. the 6th switch electromagnetic valves, 30. steering power master cylinder bodies, 31. Steering power master cylinder, 32. steering power master cylinder pistons, 33. steering power main cylinder piston-rods, 34. second pull pressure sensor, 35. push rod, 36. Automobile Right deflecting rollers, 37. right turn wheel rotary angle transmitters, 38. track rods, 39. left steering wheel corners pass Sensor, 40. automobile left steering wheels, 41. electronic control units (ECU), 42. steering spindles, 43. the first hydraulic fluid ports of master cylinder, 44. master cylinders Two hydraulic fluid ports, 45. the first oil inlets of steering power master cylinder, 46. the second oil inlets of steering power master cylinder, 47. steering power master cylinders One oil-out, 48. the second oil-outs of steering power master cylinder.
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
A kind of line traffic control hydraulic steering system of the present invention includes steering wheel unit A, steering response analogue unit B, electricity Sub-control unit (ECU) C is with turning to execution unit D.
Described steering wheel unit A includes steering wheel 1, steering wheel angle sensor 2, gear 3, rack 4, the first pressure Sensor 5, steering response simulation master cylinder 10 and steering spindle 42.
Described steering wheel 1 is fixedly connected with the upper end of steering spindle 42.The lower end of steering spindle 42 is fixedly connected with gear 3, Connected mode uses key, spline or other mechanical connecting structures, so as to which the steering spindle 42 for realizing described rotates with moving gear 3.
Described steering wheel angle sensor 2 is arranged in steering spindle 42, and steering wheel angle sensor 2 uses photoelectric coding Formula rotary angle transmitter, the function of steering wheel angle sensor 2 are that the real-time angular signal of steering wheel 1 is passed into Electronic Control list Member (ECU) 41.
Described gear 3 engages connection, the axis of rotation of gear 3 phase vertical with the longitudinally asymmetric face of rack 4 with rack 4 Hand over, the rotation of gear 3 is changed into the linear motion of rack 4.
The right-hand member of described rack 4 is fixedly connected with the left end of the first pull pressure sensor 5, it is ensured that the power suffered by rack 4 It can be delivered in the first pull pressure sensor 5, and rack 4 can drive the first pull pressure sensor 5 to carry out side-to-side movement.
The first described pull pressure sensor 5 uses resistance strain type sensor, and the function of the first pull pressure sensor 5 is Force signals suffered by rack 4 and First piston bar 6 are passed into electronic control unit (ECU) 41, pass through Electronic Control list Member (ECU) 41 internal calculation, obtains the torque value size suffered by real-time steering spindle 42, instead of traditional wire-controlled steering system In steering spindle torque sensor, so as to save production cost.
The right-hand member of the first described pull pressure sensor 5 and a left side for the First piston bar 6 in steering response simulation master cylinder 10 End is fixedly connected, it is ensured that the first pull pressure sensor 5 can drive First piston bar 6 to carry out side-to-side movement.
Described steering response simulation master cylinder 10 includes First piston bar 6, the first spring 7, master cylinder piston 8, second spring 9th, master cylinder body 11 and second piston bar 12.
Described master cylinder piston 8 is arranged in master cylinder body 11, the right-hand member of First piston bar 6 and the left end of master cylinder piston 8 It is fixedly connected at the center in face, connected mode can use flange connection, screw thread or other conventional machinery attachment structures, and first Sealing ring is housed, so as to realize sealing function between piston rod 6, master cylinder piston 8 and master cylinder body 11.
The left end of described second piston bar 12 at the center of the right side of master cylinder piston 8 with being fixedly connected, connected mode Flange connection, threaded connection or other conventional machinery attachment structures can be used, and in second piston bar 12, the and of master cylinder piston 8 Some sealing rings are housed, so as to realize sealing function between master cylinder body 11.
The master cylinder piston 8 that described steering response simulation master cylinder 10 is simulated positioned at steering response in master cylinder 10 is from left to right It is divided into I, II liang of chamber.
The first described spring 7 is located at I intracavitary of steering response simulation master cylinder 10, and second spring 9 is located at steering response mould Intend II intracavitary of master cylinder 10.First spring 7 and second spring 9 use the identical springs with same elastic characteristic, and two springs Initial length it is identical, so when master cylinder piston 8 be located at steering response simulation master cylinder 10 centre position when, the He of the first spring 7 Second spring 9 is equal to the amount of force of master cylinder piston 8, in the opposite direction.
Described First piston bar 6 is located at I intracavitary of steering response simulation master cylinder 10, and second piston bar 12 is positioned at steering road II intracavitary of sense simulation master cylinder 10.First piston bar 6 and second piston bar 12 are the identical straight rod member of sectional dimension.
First spring 7 is set in First piston bar 6 with second spring 9 and in second piston bar 12, the first spring 7 is left End is connected with the left cylinder wall interior side contacts of master cylinder body 11, and the right-hand member of the first spring 7 contacts connection with the left side of master cylinder piston 8, The left end of second spring 9 contacts connection, the right-hand member of second spring 9 and the right cylinder of master cylinder body 11 with the right side of master cylinder piston 8 Wall interior side contacts connect, First piston bar 6, second piston bar 12, master cylinder piston 8 and the rotation conllinear of master cylinder body 11.
Two hydraulic fluid ports, the first hydraulic fluid port of master cylinder 43 are provided with master cylinder body 11 in described steering response simulation master cylinder 10 Positioned at the right-hand member of master cylinder body 11, i.e., on the master cylinder body 11 of II chamber of steering response simulation master cylinder 10, the oil of master cylinder second Mouth 44 is located at the left end of master cylinder body 11, i.e., on the master cylinder body 11 of I chamber of steering response simulation master cylinder 10.Steering response Simulate the first switch magnetic valve in the first hydraulic fluid port of the master cylinder 43 and steering response analogue unit B in master cylinder 10 on master cylinder body 11 13 Single port is connected using fluid pressure line, the second hydraulic fluid port of master cylinder 44 in steering response simulation master cylinder 10 on master cylinder body 11 with The Single port of second switch magnetic valve 16 in steering response analogue unit B is connected using fluid pressure line.
Described steering response analogue unit B include first switch magnetic valve 13, the first two-bit triplet solenoid directional control valve 14, Check valve 15, second switch magnetic valve 16, the second two-bit triplet solenoid directional control valve 17, linear voltage regulation valve the 18, the 3rd switch electromagnetism The switch electromagnetic valve 20 of valve 19 and the 4th.
Wherein：First switch magnetic valve 13 and second switch magnetic valve 16 are normally closed switch magnetic valve, first switch electromagnetism Valve 13 is identical with the structure of second switch magnetic valve 16, and it is opened in the case of energization, is closed in the event of a power failure；It is linear to adjust Pressure valve 18 is normally closed solenoid valve, and it is opened in the case of energization, is closed in the event of a power failure；The He of 3rd switch electromagnetic valve 19 4th switch electromagnetic valve 20 is normal open switch magnetic valve, and the 3rd switch electromagnetic valve 19 is identical with the structure of the 4th switch electromagnetic valve 20, Close in the case of energization, open in the event of a power failure.Wherein:Feelings of the first two-bit triplet solenoid directional control valve 14 in power-off Under condition, its P mouth is connected with A mouths, and B mouths block, and in the case of energization, its P mouth is connected with B mouths, and A mouths block (such as Fig. 2-1 It is shown)；In the event of a power failure, its P mouth is connected second two-bit triplet solenoid directional control valve 17 with A mouths, and B mouths block, and is being powered In the case of, its P mouth is connected with B mouths, and A mouths block (as shown in Fig. 2-2)；First two-bit triplet solenoid directional control valve 14 and second The structure of two-bit triplet solenoid directional control valve 17 is identical.
The first hydraulic fluid port of master cylinder 43 on described first switch magnetic valve 13 and steering response simulation master cylinder 10 be connected that Single port is connected with the Single port of the 3rd switch electromagnetic valve 19 using fluid pressure line simultaneously.The other end of first switch magnetic valve 13 It is connected with the P mouths of the first two-bit triplet solenoid directional control valve 14 using fluid pressure line.
The second hydraulic fluid port of master cylinder 44 on described second switch magnetic valve 16 and steering response simulation master cylinder 10 be connected that Single port is connected with the Single port of the 4th switch electromagnetic valve 20 using fluid pressure line simultaneously.The other end of second switch magnetic valve 16 Mouth is connected with the P mouths of the second two-bit triplet solenoid directional control valve 17 using fluid pressure line.
The described A mouths of the first two-bit triplet solenoid directional control valve 14 and the oil-out of check valve 15 and the second two-bit triplet electricity The B ports of magnetic reversal valve 17 are connected using fluid pressure line simultaneously；The B mouths and linear voltage regulation of first two-bit triplet solenoid directional control valve 14 The A ports of the Single port of valve 18 and the second two-bit triplet solenoid directional control valve 17 are connected using fluid pressure line simultaneously.
The oil inlet of described check valve 15 is connected with fuel tank 28 using fluid pressure line.The other end of linear voltage regulation valve 18 with Fuel tank 28 is connected using fluid pressure line.
The control mode of described linear voltage regulation valve 18 is：Described electronic control unit (ECU) 41 is by controlling its defeated The size of the electric current gone out, linear pressure regulator valve is driven to produce corresponding electromagnetic force, so as to control the pressure and stream of linear pressure regulator valve 18 Amount.
The function of described linear voltage regulation valve 18 acts as the damping element of steering road feel simulation, passes through Electronic Control The drive signal that unit (ECU) 41 provides, to control the pressure and flow of linear pressure regulator valve 18, that is, linear voltage regulation valve is allowed to present not Same damping characteristic, its damping characteristic are transferred on steering wheel by intermediate transmission system, driver are fed back to, so as to provide more Simulated for real steering response.
The other end of the 3rd described switch electromagnetic valve 19 turns with turning on the steering power master cylinder 31 in execution unit D Connected to the first oil inlet of power master cylinder 45 using fluid pressure line.
The other end of the 4th described switch electromagnetic valve 20 turns with turning on the steering power master cylinder 31 in execution unit D Connected to the second oil inlet of power master cylinder 46 using fluid pressure line.
The EDC7 series of products that described electronic control unit (ECU) 41 is produced using BOSCH companies, Electronic Control list The corresponding terminals that external sensor input is obtained on member (ECU) 41 pass with steering wheel angle sensor 2, the first pressure respectively The corresponding wiring of sensor 5, the second pull pressure sensor 34, right turn wheel rotary angle transmitter 37 and left steering wheel rotary angle transmitter 39 End, which is adopted, to be run wires to, and then transmission information.To the corresponding terminals of magnetic valve output signal on electronic control unit (ECU) 41 Respectively with first switch magnetic valve 13, the first two-bit triplet solenoid directional control valve 14, second switch magnetic valve 16, the second two-bit triplet Solenoid directional control valve 17, linear voltage regulation valve 18, the 3rd switch electromagnetic valve 19, the 4th switch electromagnetic valve 20, the first high-speed switch valve 21, Second high-speed switch valve 22, the 5th switch electromagnetic valve 27, the 6th switch electromagnetic valve 29 electromagnet on terminals using being electrically connected Connect, and then transmission information.
Described steering execution unit D include the first high-speed switch valve 21, the second high-speed switch valve 22, accumulator 23, overflow Flow valve 24, motor 25, hydraulic pump 26, the 5th switch electromagnetic valve 27, fuel tank 28, the 6th switch electromagnetic valve 29, steering power master Cylinder 31, the second pull pressure sensor 34, push rod 35, Automobile Right deflecting roller 36, right turn wheel rotary angle transmitter 37, track rod 38th, left steering wheel rotary angle transmitter 39, automobile left steering wheel 40；Wherein：Steering power master cylinder 31 includes steering power master cylinder cylinder Body 30, steering power master cylinder piston 32, steering power main cylinder piston-rod 33.
Wherein, the first high-speed switch valve 21, the second high-speed switch valve 22, the 5th switch electromagnetic valve, the 6th switch electromagnetic valve 29 be normally closed switch magnetic valve, and the first high-speed switch valve 21, the structure of the second high-speed switch valve 22 are identical, the 5th switch electromagnetic valve with The structure of 6th switch electromagnetic valve 29 is identical, the first high-speed switch valve 21, the second high-speed switch valve 22, the 5th switch electromagnetic valve and Six switch electromagnetic valves 29 are opened in the case of energization, are closed in the event of a power failure.
Described the first high-speed switch valve 21 and the second high-speed switch valve 22 passes through electric wire connected mode and Electronic Control list Member (ECU) 41 is connected, and electronic control unit (ECU) 41 is by PWM control modes, to the input arteries and veins of above-mentioned two high-speed switch valve Rush width to be controlled, so as to control it to open the time with closing.The first described high-speed switch valve 21 and described second High-speed switch valve 22 is high performance fast valve, and its pulse width is controlled by PWM, and flow continuously can be controlled System, due to the accurate control of the first high-speed switch valve 21 and the second described high-speed switch valve 22 to flow, so in steering system System can ensure the rapidity and accuracy turned to when turning to.
In the Single port and steering power master cylinder 31 of the first described high-speed switch valve 21 on steering power master cylinder body 30 The second oil inlet of steering power master cylinder 46 using fluid pressure line connect.The other end of first high-speed switch valve 21 and hydraulic pump 26 Oil-out using fluid pressure line connect.
In the Single port and steering power master cylinder 31 of the second described high-speed switch valve 22 on steering power master cylinder body 30 The first oil inlet of steering power master cylinder 45 using fluid pressure line connect.The other end of second high-speed switch valve 22 and described liquid The oil-out of press pump 26 is connected using fluid pressure line.
Described motor 25 uses brushless direct current motor, and it is always maintained at constant duty after automobile start, To ensure the normal operation of steering.The motor shaft of described motor 25 is connected with the input shaft end of hydraulic pump 26, protects Card motor 25 can drive hydraulic pump 26 to rotate, and enable hydraulic pump 26 by oil-out persistently to hydraulic system output hydraulic pressure Oil.
The oil inlet of described hydraulic pump 26 is connected using fluid pressure line with fuel tank 28, enables hydraulic pump 26 normal Continue the draw oil from fuel tank 28 in work.The oil-out of hydraulic pump 26 is connected with an accumulator by fluid pressure line 23, the effect of accumulator 23 is that the excess energy provided from hydraulic pump 26 is stored when hydraulic pump 26 works and eliminates liquid Pulse ripple in pressure pipe road.
The oil-out of described hydraulic pump 26 is connected with the oil-feed port of overflow valve 24 using fluid pressure line, overflow valve 24 Oil outlet end is connected with fuel tank 28 using fluid pressure line.
Described steering power master cylinder 31 includes steering power master cylinder body 30, steering power master cylinder piston 32, turns to and move Advocate cylinder piston rod 33.
Described steering power master cylinder 31 by the steering power master cylinder piston 32 in steering power master cylinder 31 from a left side to The right side is divided into I, II liang of chamber, and wherein steering power main cylinder piston-rod 33 is located at II intracavitary of steering power master cylinder 31.
Two oil inlets are provided with described steering power master cylinder 31 on steering power master cylinder body 30, are respectively turned to The first oil inlet of power master cylinder 45 and the second oil inlet of steering power master cylinder 46.Wherein, the first oil inlet of steering power master cylinder 45 In I chamber cylinder body of steering power master cylinder 31, the second oil inlet of steering power master cylinder 46 is located at the II of steering power master cylinder 31 In chamber cylinder body.The Single port of steering power master cylinder the first oil inlet 45 and the second high-speed switch valve 22 on steering power master cylinder 31 Connected using fluid pressure line, steering power master cylinder the second oil inlet 46 and the first high-speed switch valve 21 on steering power master cylinder 31 Single port using fluid pressure line connect.
Two oil-outs are provided with described steering power master cylinder 31 on steering power master cylinder body 30, are respectively turned to The first oil-out of power master cylinder 47 and the second oil-out of steering power master cylinder 48.Wherein, the first oil-out of steering power master cylinder 47 In I chamber cylinder body of steering power master cylinder 31, the second oil-out of steering power master cylinder 48 is located at the II of steering power master cylinder 31 In chamber cylinder body.The Single port of steering power master cylinder the first oil-out 47 and the 6th switch electromagnetic valve 29 on steering power master cylinder 31 Connected using fluid pressure line, steering power master cylinder the second oil-out 48 and the 5th switch electromagnetic valve 27 on steering power master cylinder 31 Single port using fluid pressure line connect.
Mutually cut with scissors with vehicle frame or monocoque body outside one end cylinder body in described steering power master cylinder body 30 where I chamber Connect, articulated manner can use ball pivot, so as to be hingedly fixed in vehicle frame or bearing-type car in guarantee steering power master cylinder body 30 In the case of body, make that a certain degree of rotation can be realized between steering power master cylinder body 30 and vehicle frame or monocoque body, from And movement interference between the two is prevented, reduce the abrasion of steering.
The another port of the 5th described switch electromagnetic valve 27 is connected with fuel tank 28 using fluid pressure line.Described the 6th The another port of switch electromagnetic valve 29 is connected with fuel tank 28 using fluid pressure line.
The left end of described steering power main cylinder piston-rod 33 is connected with the right side of steering power master cylinder piston 32, even The mode of connecing can use ring flange connection, threaded connection or conventional other machinery attachment structure, and in steering power main cylinder piston-rod The 33rd, some sealing rings are housed, so as to realize sealing function between steering power master cylinder piston 32 and steering power master cylinder body 30.
The right-hand member of described steering power main cylinder piston-rod 33 is connected with the left end of the second pull pressure sensor 34, it is ensured that Described steering power main cylinder piston-rod 33 can drive the second pull pressure sensor 34 to carry out side-to-side movement.
The second described pull pressure sensor 34 uses resistance strain type sensor, the function of the second pull pressure sensor 34 It is that force signals suffered between steering power main cylinder piston-rod 33 and push rod 35 are passed into electronic control unit (ECU) 41, actual force numerical value during so as to obtain steering suffered by steering, electronic control unit (ECU) 41 passes through this and actual made Firmly numerical value, actual steering impedance value when steering can be calculated, the accurate road feel mould of steering wheel when being turned to for realizing Intend.
The described right-hand member of the second pull pressure sensor 34 is fixedly connected with the left end of push rod 35, and connected mode can use welding Or riveting, so that pull pressure sensor 34 and the relative position of push rod 35 keep constant when steering is moved.
The right-hand member of described push rod 35 is hinged with track rod 38, and articulated manner can use ball pivot, so as to protect The described push rod 35 of card can be driven in the case that described track rod 38 moves, make push rod 35 and track rod 38 it Between can realize a certain degree of rotation, so as to prevent movement interference between the two, reduce the abrasion of steering.
Described push rod 35 is a long straight rod member, and its function is that the steering power master cylinder in steering power master cylinder 31 is lived Power on stopper rod 33, after the measurement of the second pull pressure sensor 34, it is transferred on track rod 38, makes steering power master Cylinder 31 can drive track rod 38 to move in normal operation, so as to realize that automobile left steering wheel 40 and automobile are turned right Accurate steering to wheel 36.
Described track rod 38 is located in steering axle of automobile.In motor turning, the left and right fortune of track rod 38 Dynamic to pass through steeraxle mechanical driving part, band electrical automobile left steering wheel 40 and Automobile Right deflecting roller 36 rotate to target direction, real The steering of existing automobile.
Described right turn wheel rotary angle transmitter 37 is located on Automobile Right deflecting roller 36, and its function is real-time monitoring Automobile Right The actual anglec of rotation of deflecting roller 36, and its actual corner value is passed into electronic control unit (ECU) 41, to correcting electronic Target rotation angle value given by control unit (ECU) 41, the accurate control of right turn wheel when realizing motor turning.Right turn rotates Angle transducer 37 uses photoelectric coding type rotary angle transmitter.
Described left steering wheel rotary angle transmitter 39 is located on automobile left steering wheel 40, and its function is that real-time monitoring automobile is left The actual anglec of rotation of deflecting roller 40, and its actual corner value is passed into electronic control unit (ECU) 41, to correcting electronic Target rotation angle value given by control unit (ECU) 41, the accurate control of left steering wheel when realizing motor turning.Left steering rotates Angle transducer 39 uses photoelectric coding type rotary angle transmitter.
A kind of course of work of line traffic control hydraulic steering system of the present invention is as follows：
1. steering situation to the left in the case of normal direction of rotation
Refering to Fig. 3, when driver turns left steering wheel 1, the steering wheel angle sensor 2 in steering spindle 42 is examined The corner of steering wheel is measured, and sends this angular signal to electronic control unit (ECU) 41, electronic control unit (ECU) 41 Steering response analogue unit B and steering execution unit D execution order are provided by calculating analysis.
Now, first switch magnetic valve 13, second switch magnetic valve 16, which are powered, is in open mode；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；First two-bit triplet solenoid directional control valve 14, which is powered, makes its P mouth and B mouths Connection, A mouths block；Second two-bit triplet solenoid directional control valve 17, which is powered, makes its P mouth be connected with B mouths, and A mouths block；Linear voltage regulation valve 18, which are powered, is in pressure regulation state；Second high-speed switch valve 22 is powered and is in open mode；The power-off of first high-speed switch valve 21 is in Closed mode；5th switch electromagnetic valve 27 is powered and is in open mode；The power-off of 6th switch electromagnetic valve 29 is closed.
Steering spindle 42 rotates with steering wheel 1, and is rotated with moving gear 3, because gear 3 and rack 4 keep engagement, Rack-and-pinion is formed, the rotary motion of gear 3 can be converted to the linear motion to the right of rack 4.Due to the right-hand member of rack 4 with The left end of first pull pressure sensor 5 is connected, and the right-hand member of the first pull pressure sensor 5 is connected with the left end of First piston bar 6, therefore rack 4 motion can be transferred to First piston bar 6 through the first pull pressure sensor 5, make the latter keep moving right.Now, first draw Pressure sensor 5 monitors the active force between real-time rack 4 and First piston bar 6, and the force signals transmission that will be obtained Electron control unit (ECU) 41, the real-time torque value of steering spindle 42 is drawn after being analyzed by calculating.First piston bar 6 drives Master cylinder piston 8 in steering response simulation master cylinder 10 moves right, and reduces II cavity volume in steering response simulation master cylinder 10, pressure Power increase, the hydraulic oil of II intracavitary pass through the two-bit triplet solenoid directional control valve 14 of first switch magnetic valve 13 and first, and flow direction is linear Pressure regulator valve 18, finally flow into fuel tank 28.Electronic control unit (ECU) 41 is passed by steering wheel angle sensor 2, the first pressure Sensor 5, the second pull pressure sensor 34 transmit the signal come, and real-time road surface steering drag numerical value is drawn by calculating analysis, And the size of the electric current exported according to the Numerical Control to linear voltage regulation valve 18, drive linear pressure regulator valve 18 to produce corresponding electromagnetism Power, so as to control the pressure and flow of linear pressure regulator valve 18, that is, allow linear voltage regulation valve that different damping characteristics is presented, the damping is special Property be transferred to by Hydraulic Elements and intermediate transmission system on steering wheel 1, and feed back to driver, there is provided more real to turn to Road feel is simulated；Meanwhile I cavity volume increase in steering response simulation master cylinder 10, pressure reduce, the hydraulic oil in fuel tank 28 passes through successively Check valve 15, the second two-bit triplet solenoid directional control valve 17, the second electromagnetic switch valve 16 is crossed to flow into I in steering response simulation master cylinder 10 Intracavitary.
Now, the 3rd switch electromagnetic valve 19, the 4th switch electromagnetic valve 20 be powered be closed, realize steering wheel with The decoupling of steered wheel, so that greater impact load of the steered wheel during normal direction of rotation will not be transferred to steering wheel On, help to alleviate the tension of driver, and lift comfortableness and stability of the driver in braking procedure.
Meanwhile motor 25 is in normal operating conditions, hydraulic pump 26 is driven to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.Wherein, the effect of accumulator 23 is to work as the work of hydraulic pump 26 The excess energy provided from hydraulic pump 26 is provided when making, and eliminates the pulse ripple in fluid pressure line；Overflow valve 24 serves as Safety valve uses, and when the outlet pressure of hydraulic pump 26 increases severely, overflow valve 24 opens overflow, pressure value in system is in rationally In the range of, ensure hydraulic system normal work.
Electronic control unit (ECU) 41 by receive steering wheel angle sensor 2 transmit come target rotation angle signal, pass through Calculate analysis and draw the flow flowed through needed for the second high-speed switch valve 22, and by PWM control modes, to the second high-speed switch valve 22 input pulse width is controlled, so as to control it to open the time with closing.Realize to the second high-speed switch valve 22 Flow is continuously controlled, accurate steering during so as to ensure that automobile turns to the left.Hydraulic oil passes through the second high-speed switch valve 22 enter I intracavitary of steering power master cylinder 31, raise I cavity pressure, and volume becomes big, promotes in steering power master cylinder 31 Steering power master cylinder piston 32 move right, steering power master cylinder piston 32 drives the steering power master cylinder piston that is attached thereto Bar 33 moves right, and by the transmission of the second pull pressure sensor 34, promotes push rod 35 to move right.Second pull pressure sensor 34 are used for detecting active force numerical value suffered between steering power main cylinder piston-rod 33 and push rod 35, and force signals are transmitted Electron control unit (ECU) 41, real-time road surface steering drag numerical value when can obtain turning to by analyzing calculating, for realizing The accurate simulation of steering response.Because the track rod 38 in push rod 35 and steeraxle is be hinged, push rod 35 can drive steering horizontal Pull bar 38 moves right, and by the motion transmission of driving member in steeraxle, makes automobile left steering wheel 40 and Automobile Right deflecting roller 36 Turn left, realize to the left divertical motion of the automobile in the case of normal direction of rotation.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 moves right, make steering power master cylinder II cavity pressure rise in 31, volume diminish, and the hydraulic oil of II intracavitary is flowed into fuel tank 28 by the 5th switch electromagnetic valve 27.
Hydraulic pressure flow graph is as shown in thick line in Fig. 3.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle signal phase of coming is transmitted with steering wheel angle sensor 2 Comparing difference, and continue to be controlled the second high-speed switch valve 22 by electronic control unit (ECU) 41, until eliminating both Between difference, to reach higher steering precision.
2. wheel returns positive operating mode after the completion of being turned to the left in the case of normal direction of rotation
Refering to Fig. 4, wheel needs back timing after the completion of driver turns to the left, and driver starts to return positive steering wheel to the right 1, the steering wheel angle sensor 2 in steering spindle 42 detects that the direction of rotation of steering wheel 1 changes, and this steering wheel is returned Positive signal sends electronic control unit (ECU) 41 to, and electronic control unit (ECU) 41 provides steering response mould by calculating analysis Intend unit B and turn to execution unit D execution order.
Now, first switch magnetic valve 13, second switch magnetic valve 16, which are powered, is in open mode；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；Second two-bit triplet solenoid directional control valve 17, which is powered, makes its P mouth be connected with B mouths, and A mouths block；Linear voltage regulation valve 18 power-off are closed；First high-speed switch valve 21 is powered and is in open mode；The power-off of second high-speed switch valve 22 is in Closed mode；The power-off of 5th switch electromagnetic valve 27 is closed；6th switch electromagnetic valve 29 is powered and is in open mode.
Now, the B mouth phases of the A mouths of the first two-bit triplet solenoid directional control valve 14 and the second two-bit triplet solenoid directional control valve 17 Even, I chamber in steering response simulation master cylinder 10 is made to be connected with II chamber, therefore I chamber and II chamber in steering response simulation master cylinder 10 In pressure value it is equal, because First piston bar 6 is identical with the sectional dimension of second piston bar 12, therefore master cylinder piston 8 or so two Side hydraulic oil active area is identical, so that the hydraulic action suffered by the left and right sides of master cylinder piston 8 is equal, cancels each other.This When, the first spring 7 is in extended state caused by turning to the left before, and second spring 9 is in compressive state, makes the first bullet The effect that spring 7 and second spring 9 produce to the left to master cylinder piston 8 is made a concerted effort, due to the first spring 7 and second spring 9 have it is identical Elastic performance, the effect to the left makes a concerted effort to promote master cylinder piston 8 to left movement, until master cylinder piston 8 reaches the original before turning to Beginning centre position, now two spring elongations are identical, act on active force on piston and disappear, realize automobile in normal direction of rotation In the case of to the left turn to after the completion of wheel return positive process.During being returned just due to wheel, in the first spring 7 and second spring Make steering wheel 1 that there is self-right effect in the presence of 9, required driver can be made to subtract the steering force for returning positive process significantly It is small, the muscle power of driver is saved, makes steering more convenient and quick.
Meanwhile the 3rd switch electromagnetic valve 19, the 4th switch electromagnetic valve 20 are powered and are closed, realize steering wheel with The decoupling of steered wheel.
On the other hand, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, hydraulic pump 26 externally exports liquid Force feed, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.Wherein, the effect of accumulator 23 is to work as hydraulic pump 26 The excess energy provided from hydraulic pump 26 is provided during work, and eliminates the pulse ripple in fluid pressure line；Overflow valve 24 fills When safety valve uses, when the outlet pressure of hydraulic pump 26 increases severely, overflow valve 24 opens overflow, pressure value in system is in conjunction In the range of reason, ensure hydraulic system normal work.
Electronic control unit (ECU) 41 is transmitted come steering wheel time positive signal, control by receiving steering wheel angle sensor 2 First high-speed switch valve 21 is powered and is in open mode.Hydraulic oil enters steering power master cylinder 31 by the first high-speed switch valve 21 II intracavitary, raise II cavity pressure, volume becomes big, promotes the steering power master cylinder piston in steering power master cylinder 31 32 are moved to the left, and steering power master cylinder piston 32 drives the steering power main cylinder piston-rod 33 being attached thereto to pass through to left movement The transmission of second pull pressure sensor 34, push rod 35 is promoted to left movement.Due to the track rod in push rod 35 and steeraxle 38 is be hinged, and push rod 35 can drive track rod 38 to be moved to the left, and by the motion transmission of driving member in steeraxle, makes automobile left Deflecting roller 40 and Automobile Right deflecting roller 36 turn right, and realize automobile wheel after the completion of the steering to the left in the case of normal direction of rotation Return positive process.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 is moved to the left, make steering power master cylinder I cavity pressure rise in 31, volume diminish, and the hydraulic oil of I intracavitary is flowed into fuel tank 28 by the 6th switch electromagnetic valve 29.
Hydraulic pressure flow graph is as shown in thick line in Fig. 4.
3. steering situation to the right in the case of normal direction of rotation
Refering to Fig. 5, when driver turns right steering wheel 1, the steering wheel angle sensor 2 in steering spindle 42 is examined The corner of steering wheel is measured, and sends this angular signal to electronic control unit (ECU) 41, electronic control unit (ECU) 41 Steering response analogue unit B and steering execution unit D execution order are provided by calculating analysis.
Now, first switch magnetic valve 13, second switch magnetic valve 16, which are powered, is in open mode；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes its P mouth be connected with A mouths, and B mouths block；Linear voltage regulation valve 18, which are powered, is in pressure regulation state；First high-speed switch valve 21 is powered and is in open mode；The power-off of second high-speed switch valve 22 is in Closed mode；The power-off of 5th switch electromagnetic valve 27 is closed；6th switch electromagnetic valve 29 is powered and is in open mode.
Steering spindle 42 rotates with steering wheel 1, and is rotated with moving gear 3, because gear 3 and rack 4 keep engagement, Rack-and-pinion is formed, the rotary motion of gear 3 can be converted to the linear motion to the left of rack 4.Due to the right-hand member of rack 4 with The left end of first pull pressure sensor 5 is connected, and the right-hand member of the first pull pressure sensor 5 is connected with the left end of First piston bar 6, therefore rack 4 motion can be transferred to First piston bar 6 through the first pull pressure sensor 5, the latter is kept to left movement.Now, first draw Pressure sensor 5 monitors the active force between real-time rack 4 and First piston bar 6, and the force signals transmission that will be obtained Electron control unit (ECU) 41, the real-time torque value of steering spindle 42 is drawn after being analyzed by calculating.First piston bar 6 drives Master cylinder piston 8 in steering response simulation master cylinder 10 reduces I cavity volume in steering response simulation master cylinder 10, pressure to left movement Power increase, the hydraulic oil of I intracavitary pass through the two-bit triplet solenoid directional control valve 17 of second switch magnetic valve 16 and second, flow to linear adjust Pressure valve 18, finally flow into fuel tank 28.Electronic control unit (ECU) 41 is sensed by steering wheel angle sensor 2, the first pressure Device 5, the second pull pressure sensor 34 transmit the signal come, and real-time road surface steering drag numerical value is drawn by calculating analysis, and The size of the electric current exported according to the Numerical Control to linear voltage regulation valve 18, linear pressure regulator valve 18 is driven to produce corresponding electromagnetism Power, so as to control the pressure and flow of linear pressure regulator valve 18, that is, allow linear voltage regulation valve that different damping characteristics is presented, the damping is special Property be transferred to by Hydraulic Elements and intermediate transmission system on steering wheel 1, and feed back to driver, there is provided more real to turn to Road feel is simulated；Meanwhile II cavity volume increase in steering response simulation master cylinder 10, pressure reduce, the hydraulic oil in fuel tank 28 is successively Steering response simulation master cylinder 10 is flowed into by check valve 15, the first two-bit triplet solenoid directional control valve 14, the first electromagnetic switch valve 13 Interior II intracavitary.
Now, the 3rd switch electromagnetic valve 19, the 4th switch electromagnetic valve 20 be powered be closed, realize steering wheel with The decoupling of steered wheel, so that greater impact load of the steered wheel during normal direction of rotation will not be transferred to steering wheel On, help to alleviate the tension of driver, and lift comfortableness and stability of the driver in braking procedure.
Meanwhile motor 25 is in normal operating conditions, hydraulic pump 26 is driven to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.Wherein, the effect of accumulator 23 is to work as the work of hydraulic pump 26 The excess energy provided from hydraulic pump 26 is provided when making, and eliminates the pulse ripple in fluid pressure line；Overflow valve 24 serves as Safety valve uses, and when the outlet pressure of hydraulic pump 26 increases severely, overflow valve 24 opens overflow, pressure value in system is in rationally In the range of, ensure hydraulic system normal work.
Electronic control unit (ECU) 41 by receive steering wheel angle sensor 2 transmit come target rotation angle signal, pass through Calculate analysis and draw the flow flowed through needed for the first high-speed switch valve 21, and by PWM control modes, to the first high-speed switch valve 21 input pulse width is controlled, so as to control it to open the time with closing.Realize to the first high-speed switch valve 21 Flow is continuously controlled, accurate steering during so as to ensure that automobile turns to the left.Hydraulic oil passes through the first high-speed switch valve 21 enter II intracavitary of steering power master cylinder 31, raise II cavity pressure, and volume becomes big, and promotion is located at steering power master cylinder 31 Interior steering power master cylinder piston 32 is moved to the left, and steering power master cylinder piston 32 drives the steering power master cylinder being attached thereto to live Stopper rod 33, by the transmission of the second pull pressure sensor 34, pulls push rod 35 to left movement to left movement.Second pressure senses Device 34 is used for detecting active force numerical value suffered between steering power main cylinder piston-rod 33 and push rod 35, and force signals are passed Electronic control unit (ECU) 41 is passed, real-time road surface steering drag numerical value when can obtain turning to by analyzing calculating, for reality Turn now to the accurate simulation of road feel.Because the track rod 38 in push rod 35 and steeraxle is be hinged, push rod 35 can drive steering Drag link 38 is moved to the left, and by the motion transmission of driving member in steeraxle, makes automobile left steering wheel 40 and Automobile Right deflecting roller 36 turn right, and realize to the right divertical motion of the automobile in the case of normal direction of rotation.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 is moved to the left, make steering power master cylinder I cavity pressure rise in 31, volume diminish, and the hydraulic oil of I intracavitary is flowed into fuel tank 28 by the 6th switch electromagnetic valve 29.
Hydraulic pressure flow graph is as shown in thick line in Fig. 5.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle signal phase of coming is transmitted with steering wheel angle sensor 2 Comparing difference, and continue to be controlled the first high-speed switch valve 21 by electronic control unit (ECU) 41, until eliminating both Between difference, to reach higher steering precision.
4. wheel returns positive operating mode after the completion of being turned to the right in the case of normal direction of rotation
Refering to Fig. 6, wheel needs back timing after the completion of driver turns to the right, and driver starts to return positive steering wheel to the left 1, the steering wheel angle sensor 2 in steering spindle 42 detects that the direction of rotation of steering wheel 1 changes, and this steering wheel is returned Positive signal sends electronic control unit (ECU) 41 to, and electronic control unit (ECU) 41 provides steering response mould by calculating analysis Intend unit B and turn to execution unit D execution order.
Now, first switch magnetic valve 13, second switch magnetic valve 16, which are powered, is in open mode；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；Second two-bit triplet solenoid directional control valve 17, which is powered, makes its P mouth be connected with B mouths, and A mouths block；Linear voltage regulation valve 18 power-off are closed；Second high-speed switch valve 22 is powered and is in open mode；The power-off of first high-speed switch valve 21 is in Closed mode；5th switch electromagnetic valve 27 is powered and is in open mode；The power-off of 6th switch electromagnetic valve 29 is closed.
Now, the B mouth phases of the A mouths of the first two-bit triplet solenoid directional control valve 14 and the second two-bit triplet solenoid directional control valve 17 Even, I chamber in steering response simulation master cylinder 10 is made to be connected with II chamber, therefore I chamber and II chamber in steering response simulation master cylinder 10 In pressure value it is equal, because First piston bar 6 is identical with the sectional dimension of second piston bar 12, therefore master cylinder piston 8 or so two Side hydraulic oil active area is identical, so that the hydraulic action suffered by the left and right sides of master cylinder piston 8 is equal, cancels each other.This When, the first spring 7 is in compressive state caused by turning to the right before, and second spring 9 is in extended state, makes the first bullet The effect that spring 7 and second spring 9 produce to the right to master cylinder piston 8 is made a concerted effort, due to the first spring 7 and second spring 9 have it is identical Elastic performance, the effect to the right makes a concerted effort to promote master cylinder piston 8 to move right, until master cylinder piston 8 reaches the original before turning to Beginning centre position, now two spring elongations are identical, act on active force on piston and disappear, realize automobile in normal direction of rotation In the case of to the left turn to after the completion of wheel return positive process.During being returned just due to wheel, in the first spring 7 and second spring Make steering wheel 1 that there is self-right effect in the presence of 9, required driver can be made to subtract the steering force for returning positive process significantly It is small, the muscle power of driver is saved, makes steering more convenient and quick.
Meanwhile the 3rd switch electromagnetic valve 19, the 4th switch electromagnetic valve 20 are powered and are closed, realize steering wheel with The decoupling of steered wheel.
On the other hand, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, hydraulic pump 26 externally exports liquid Force feed, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.Wherein, the effect of accumulator 23 is to work as hydraulic pump 26 The excess energy provided from hydraulic pump 26 is provided during work, and eliminates the pulse ripple in fluid pressure line；Overflow valve 24 fills When safety valve uses, when the outlet pressure of hydraulic pump 26 increases severely, overflow valve 24 opens overflow, pressure value in system is in conjunction In the range of reason, ensure hydraulic system normal work.
Electronic control unit (ECU) 41 is transmitted come steering wheel time positive signal, control by receiving steering wheel angle sensor 2 Second high-speed switch valve 22 is powered and is in open mode.Hydraulic oil enters steering power master cylinder 31 by the second high-speed switch valve 22 I intracavitary, raise I cavity pressure, volume becomes big, promotes the steering power master cylinder piston 32 in steering power master cylinder 31 Move right, steering power master cylinder piston 32 drives the steering power main cylinder piston-rod 33 that is attached thereto to move right, by the The transmission of two pull pressure sensor 34, push rod 35 is promoted to move right.Due to the track rod 38 in push rod 35 and steeraxle Be hinged, push rod 35 can drive track rod 38 to move right, and by the motion transmission of driving member in steeraxle, automobile is turned left Turned left to wheel 40 and Automobile Right deflecting roller 36, realize that automobile wheel after the completion of the steering to the right in the case of normal direction of rotation returns Positive process.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 moves right, make steering power master cylinder II cavity pressure rise in 31, volume diminish, and the hydraulic oil of II intracavitary is flowed into fuel tank 28 by the 5th switch electromagnetic valve 27.
Hydraulic pressure flow graph is as shown in thick line in Fig. 6.
5. steering situation to the left in the case of automatic parking
Refering to Fig. 7, when steering is operated under automatic parking operating mode, only electronic control unit (ECU) C and steering Execution unit D is operated.Electronic control unit (ECU) 41 according to vehicle-mounted various sensors transmit come signal provide turn Execution order to execution unit D.
Now, first switch magnetic valve 13, the power-off of second switch magnetic valve 16 are closed；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes its P mouth be connected with A mouths, and B mouths block；Linear voltage regulation valve 18 power-off are closed；Second high-speed switch valve 22 is powered and is in open mode；The power-off of first high-speed switch valve 21 is in Closed mode；5th switch electromagnetic valve 27 is powered and is in open mode；The power-off of 6th switch electromagnetic valve 29 is closed.
Now, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.
Electronic control unit (ECU) 41 by receive vehicle-mounted various sensors transmit come signal, pass through calculate point Analysis draws the flow flowed through needed for the second high-speed switch valve 22, and by PWM control modes, to the defeated of the second high-speed switch valve 22 Enter pulse width to be controlled, so as to control it to open the time with closing.Realize and the flow of the second high-speed switch valve 22 is entered The continuous control of row, accurate steering during so as to ensure that automobile turns to the left.Hydraulic oil enters by the second high-speed switch valve 22 I intracavitary of steering power master cylinder 31, raise I cavity pressure, volume becomes big, promotes the steering in steering power master cylinder 31 Power master cylinder piston 32 moves right, steering power master cylinder piston 32 drive the steering power main cylinder piston-rod 33 that is attached thereto to Right motion, by the transmission of the second pull pressure sensor 34, push rod 35 is promoted to move right.Due in push rod 35 and steeraxle Track rod 38 is be hinged, and push rod 35 can drive track rod 38 to move right, and is passed by the motion of driving member in steeraxle Pass, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is turned left, realize automobile turning left in the case of automatic parking To motion.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 moves right, make steering power master cylinder II cavity pressure rise in 31, volume diminish, and the hydraulic oil of II intracavitary is flowed into fuel tank 28 by the 5th switch electromagnetic valve 27.
Hydraulic pressure flow graph is as shown in thick line in Fig. 7.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle letter of gained is calculated with electronic control unit (ECU) 41 Number compare difference, and continues to be controlled the second high-speed switch valve 22 by electronic control unit (ECU) 41, until eliminating Difference between the two, to reach higher steering precision.
6. steering situation to the right in the case of automatic parking
Refering to Fig. 8, when steering is operated under automatic parking operating mode, only electronic control unit (ECU) C and steering Execution unit D is operated.Electronic control unit (ECU) 41 according to vehicle-mounted various sensors transmit come signal provide turn Execution order to execution unit D.
Now, first switch magnetic valve 13, the power-off of second switch magnetic valve 16 are closed；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes its P mouth be connected with A mouths, and B mouths block；Linear voltage regulation valve 18 power-off are closed；First high-speed switch valve 21 is powered and is in open mode；The power-off of second high-speed switch valve 22 is in Closed mode；The power-off of 5th switch electromagnetic valve 27 is closed；6th switch electromagnetic valve 29 is powered and is in open mode.
Now, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.
Electronic control unit (ECU) 41 by receive vehicle-mounted various sensors transmit come signal, pass through calculate point Analysis draws the flow flowed through needed for the first high-speed switch valve 21, and by PWM control modes, to the defeated of the first high-speed switch valve 21 Enter pulse width to be controlled, so as to control it to open the time with closing.Realize and the flow of the first high-speed switch valve 21 is entered The continuous control of row, accurate steering during so as to ensure that automobile turns to the left.Hydraulic oil enters by the first high-speed switch valve 21 II intracavitary of steering power master cylinder 31, raise II cavity pressure, volume becomes big, promotes and turns in steering power master cylinder 31 It is moved to the left to power master cylinder piston 32, steering power master cylinder piston 32 drives the steering power main cylinder piston-rod 33 being attached thereto To left movement, by the transmission of the second pull pressure sensor 34, push rod 35 is pulled to left movement.Due in push rod 35 and steeraxle Track rod 38 it is be hinged, push rod 35 can drive track rod 38 to be moved to the left, and pass through the motion of driving member in steeraxle Transmit, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is turned right, realize automobile in the case of automatic parking to the right Divertical motion.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 is moved to the left, make steering power master cylinder I cavity pressure rise in 31, volume diminish, and the hydraulic oil of I intracavitary is flowed into fuel tank 28 by the 6th switch electromagnetic valve 29.
Hydraulic pressure flow graph is as shown in thick line in Fig. 8.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle letter of gained is calculated with electronic control unit (ECU) 41 Number compare difference, and continues to be controlled the first high-speed switch valve 21 by electronic control unit (ECU) 41, until eliminating Difference between the two, to reach higher steering precision.
Steering situation to the left in the case of 7.DAS line traffic control active steerings
Refering to Fig. 9, when steering is operated under DAS line traffic control active steering operating modes, only electronic control unit (ECU) C and steering execution unit D are operated.Electronic control unit (ECU) 41 according to vehicle-mounted various sensors transmit come letter Number provide the execution order for turning to execution unit D.
Now, first switch magnetic valve 13, the power-off of second switch magnetic valve 16 are closed；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes its P mouth be connected with A mouths, and B mouths block；Linear voltage regulation valve 18 power-off are closed；Second high-speed switch valve 22 is powered and is in open mode；The power-off of first high-speed switch valve 21 is in Closed mode；5th switch electromagnetic valve 27 is powered and is in open mode；The power-off of 6th switch electromagnetic valve 29 is closed.
Now, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.
Electronic control unit (ECU) 41 by receive vehicle-mounted various sensors transmit come signal, pass through calculate point Analysis draws the flow flowed through needed for the second high-speed switch valve 22, and by PWM control modes, to the defeated of the second high-speed switch valve 22 Enter pulse width to be controlled, so as to control it to open the time with closing.Realize and the flow of the second high-speed switch valve 22 is entered The continuous control of row, accurate steering during so as to ensure that automobile turns to the left.Hydraulic oil enters by the second high-speed switch valve 22 I intracavitary of steering power master cylinder 31, raise I cavity pressure, volume becomes big, promotes the steering in steering power master cylinder 31 Power master cylinder piston 32 moves right, steering power master cylinder piston 32 drive the steering power main cylinder piston-rod 33 that is attached thereto to Right motion, by the transmission of the second pull pressure sensor 34, push rod 35 is promoted to move right.Due in push rod 35 and steeraxle Track rod 38 is be hinged, and push rod 35 can drive track rod 38 to move right, and is passed by the motion of driving member in steeraxle Pass, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is turned left, realize automobile in the case of DAS line traffic control active steerings Divertical motion to the left.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 moves right, make steering power master cylinder II cavity pressure rise in 31, volume diminish, and the hydraulic oil of II intracavitary is flowed into fuel tank 28 by the 5th switch electromagnetic valve 27.
Hydraulic pressure flow graph is as shown in thick line in Fig. 9.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle letter of gained is calculated with electronic control unit (ECU) 41 Number compare difference, and continues to be controlled the second high-speed switch valve 22 by electronic control unit (ECU) 41, until eliminating Difference between the two, to reach higher steering precision.
Steering situation to the right in the case of 8.DAS line traffic control active steerings
Refering to Figure 10, when steering is operated under DAS line traffic control active steering operating modes, only electronic control unit (ECU) C and steering execution unit D are operated.Electronic control unit (ECU) 41 according to vehicle-mounted various sensors transmit come Signal provide the execution order for turning to execution unit D.
Now, first switch magnetic valve 13, the power-off of second switch magnetic valve 16 are closed；3rd switch electromagnetic valve 19th, the 4th switch electromagnetic valve 20 is powered and is closed；The power-off of first two-bit triplet solenoid directional control valve 14 makes its P mouth and A mouths Connection, B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes its P mouth be connected with A mouths, and B mouths block；Linear voltage regulation valve 18 power-off are closed；First high-speed switch valve 21 is powered and is in open mode；The power-off of second high-speed switch valve 22 is in Closed mode；The power-off of 5th switch electromagnetic valve 27 is closed；6th switch electromagnetic valve 29 is powered and is in open mode.
Now, motor 25 is in normal operating conditions, drives hydraulic pump 26 to rotate, 26 external output hydraulic pressure of hydraulic pump Oil, accumulator 23 and overflow valve 24 are connected at the oil-out of hydraulic pump 26.
Electronic control unit (ECU) 41 by receive vehicle-mounted various sensors transmit come signal, pass through calculate point Analysis draws the flow flowed through needed for the first high-speed switch valve 21, and by PWM control modes, to the defeated of the first high-speed switch valve 21 Enter pulse width to be controlled, so as to control it to open the time with closing.Realize and the flow of the first high-speed switch valve 21 is entered The continuous control of row, accurate steering during so as to ensure that automobile turns to the right.Hydraulic oil enters by the first high-speed switch valve 21 II intracavitary of steering power master cylinder 31, raise II cavity pressure, volume becomes big, promotes and turns in steering power master cylinder 31 It is moved to the left to power master cylinder piston 32, steering power master cylinder piston 32 drives the steering power main cylinder piston-rod 33 being attached thereto To left movement, by the transmission of the second pull pressure sensor 34, push rod 35 is pulled to left movement.Due in push rod 35 and steeraxle Track rod 38 it is be hinged, push rod 35 can drive track rod 38 to be moved to the left, and pass through the motion of driving member in steeraxle Transmit, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is turned right, realize automobile in the case of DAS line traffic control active steerings Divertical motion to the right.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 is moved to the left, make steering power master cylinder I cavity pressure rise in 31, volume diminish, and the hydraulic oil of I intracavitary is flowed into fuel tank 28 by the 6th switch electromagnetic valve 29.
Hydraulic pressure flow graph is as shown in thick line in Figure 10.
Electronic control unit (ECU) 41 is by receiving left steering wheel rotary angle transmitter 39, right turn wheel rotary angle transmitter 37 The angular signal of the left and right deflecting roller of reality come is transmitted, and the target rotation angle letter of gained is calculated with electronic control unit (ECU) 41 Number compare difference, and continues to be controlled the first high-speed switch valve 21 by electronic control unit (ECU) 41, until eliminating Difference between the two, to reach higher steering precision.
9. steering situation to the left during steering power-off failure
Refering to Figure 11, when steering power-off failure, all magnetic valves are returned to initial bit due to the effect of spring force Put, now the power source of steering is the muscle power of driver.
Now, first switch magnetic valve 13, second switch magnetic valve 16, the 5th switch electromagnetic valve the 27, the 6th switch electromagnetism The power-off of valve 29 is closed；3rd switch electromagnetic valve 19, the power-off of the 4th switch electromagnetic valve 20 are in open mode；First liang The position power-off of three-way solenoid valve 14 makes its P mouth be connected with A mouths, and B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes Its P mouth connects with A mouths, and B mouths block；The power-off of linear voltage regulation valve 18 is closed；First high-speed switch valve 21, second is at a high speed The power-off of switch valve 22 is closed.
Driver consumes one's strength when turning left steering wheel 1, and steering spindle 42 rotates with steering wheel 1, and is revolved with moving gear 3 Turn, because gear 3 and rack 4 keep engagement, form rack-and-pinion, the rotary motion of gear 3 can be converted to tooth The linear motion to the right of bar 4, the motion of rack 4 can be transferred to First piston bar 6 through the first pull pressure sensor 5, protect the latter Hold and move right.First piston bar 6 drives the master cylinder piston 8 in steering response simulation master cylinder 10 to move right, and makes steering response Simulate II cavity volume in master cylinder 10 to reduce, pressure increase, the hydraulic oil of II intracavitary of steering response simulation master cylinder 10 passes through the 3rd Switch electromagnetic valve 19 flows into I intracavitary of steering power master cylinder 31, raises I cavity pressure of steering power master cylinder 31, and volume becomes Greatly, the steering power master cylinder piston 32 in steering power master cylinder 31 is promoted to move right, the band of steering power master cylinder piston 32 The dynamic steering power main cylinder piston-rod 33 being attached thereto moves right, and by the transmission of the second pull pressure sensor 34, promotion pushes away Bar 35 moves right.Because the track rod 38 in push rod 35 and steeraxle is be hinged, push rod 35 can drive track rod 38 Move right, by the motion transmission of driving member in steeraxle, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is overcome road The steering drag in face turns left, and realizes to the left divertical motion of the automobile in steering power-off failure.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 moves right, make steering power master cylinder II cavity pressure rise in 31, volume diminish, and the hydraulic oil of II intracavitary in steering power master cylinder 31 is by the 4th switch electromagnetism Valve 20 flows into I intracavitary of steering response simulation master cylinder 10.Realize the fluid infusion for I intracavitary that master cylinder 10 is simulated to steering response.
Hydraulic pressure flow graph is as shown in thick line in Figure 11.
10. steering situation to the right during steering power-off failure
Refering to Figure 12, when steering power-off failure, all magnetic valves are returned to initial bit due to the effect of spring force Put, now the power source of steering is the muscle power of driver.
Now, first switch magnetic valve 13, second switch magnetic valve 16, the 5th switch electromagnetic valve the 27, the 6th switch electromagnetism The power-off of valve 29 is closed；3rd switch electromagnetic valve 19, the power-off of the 4th switch electromagnetic valve 20 are in open mode；First liang The position power-off of three-way solenoid valve 14 makes its P mouth be connected with A mouths, and B mouths block；The power-off of second two-bit triplet solenoid directional control valve 17 makes Its P mouth connects with A mouths, and B mouths block；The power-off of linear voltage regulation valve 18 is closed；First high-speed switch valve 21, second is at a high speed The power-off of switch valve 22 is closed.
Driver consumes one's strength when turning right steering wheel 1, and steering spindle 42 rotates with steering wheel 1, and is revolved with moving gear 3 Turn, because gear 3 and rack 4 keep engagement, form rack-and-pinion, the rotary motion of gear 3 can be converted to tooth The linear motion to the left of bar 4, the motion of rack 4 can be transferred to First piston bar 6 through the first pull pressure sensor 5, protect the latter Hold to left movement.First piston bar 6 drives the master cylinder piston 8 in steering response simulation master cylinder 10 to make steering response to left movement Simulate I cavity volume in master cylinder 10 to reduce, pressure increase, the hydraulic oil of I intracavitary of steering response simulation master cylinder 10 is opened by the 4th Powered-down magnet valve 20 flows into II intracavitary of steering power master cylinder 31, raises II cavity pressure of steering power master cylinder 31, and volume becomes Greatly, the steering power master cylinder piston 32 in steering power master cylinder 31 is promoted to be moved to the left, the band of steering power master cylinder piston 32 The dynamic steering power main cylinder piston-rod 33 being attached thereto is to left movement, and by the transmission of the second pull pressure sensor 34, pulling pushes away Bar 35 is to left movement.Because the track rod 38 in push rod 35 and steeraxle is be hinged, push rod 35 can drive track rod 38 It is moved to the left, by the motion transmission of driving member in steeraxle, automobile left steering wheel 40 and Automobile Right deflecting roller 36 is overcome road The steering drag in face turns right, and realizes to the right divertical motion of the automobile in steering power-off failure.
Simultaneously as the steering power master cylinder piston 32 in steering power master cylinder 31 is moved to the left, make steering power master cylinder I cavity pressure rise in 31, volume diminish, and the hydraulic oil of I intracavitary in steering power master cylinder 31 passes through the 3rd switch electromagnetic valve 19 flow into II intracavitary of steering response simulation master cylinder 10.Realize the fluid infusion for II intracavitary that master cylinder 10 is simulated to steering response.
Hydraulic pressure flow graph is as shown in thick line in Figure 12.

Claims (8)

1. a kind of line traffic control hydraulic steering system, it is characterised in that a kind of described line traffic control hydraulic steering system includes steering wheel list First (A), steering response analogue unit (B), electronic control unit (C) are with turning to execution unit (D)；
Described steering wheel unit (A) includes steering response simulation master cylinder (10)；
Described steering response analogue unit (B) is opened including first switch magnetic valve (13), second switch magnetic valve (16), the 3rd Powered-down magnet valve (19) and the 4th switch electromagnetic valve (20)；
Described steering execution unit (D) includes the first high-speed switch valve (21), the second high-speed switch valve (22) and steering power Master cylinder (31)；
Described steering wheel unit (A) passes through the hydraulic fluid port of master cylinder first (43) on steering response simulation master cylinder (10), steering response Simulate the hydraulic fluid port of master cylinder second (44), Single port, the second switch magnetic valve of first switch magnetic valve (13) on master cylinder (10) (16) Single port, the Single port of the 3rd switch electromagnetic valve (19) and the Single port and steering response of the 4th switch electromagnetic valve (20) Analogue unit (B) fluid pressure line connects；Steering response analogue unit (B) by the another port of the 3rd switch electromagnetic valve (19), The another port of 4th switch electromagnetic valve (20), the Single port of the first high-speed switch valve (21), the second high-speed switch valve (22) The oil inlet of steering power master cylinder first (45) on Single port, steering power master cylinder (31) on steering power master cylinder (31) with turning Connected to the oil inlet of power master cylinder second (46) with execution unit (D) fluid pressure line is turned to；Electronic control unit (C) respectively and turn It is connected to disk unit (A), steering response analogue unit (B) with turning to execution unit (D) electric wire.
2. according to a kind of line traffic control hydraulic steering system described in claim 1, it is characterised in that described steering wheel unit (A) Also include steering wheel (1), steering wheel angle sensor (2), gear (3), rack (4), the first pull pressure sensor (5) with turning to Axle (42)；
Described steering wheel (1) is arranged on the upper end of steering spindle (42) to be fixedly connected, and gear (3) is arranged on steering spindle (42) Lower end is is fixedly connected with, and steering wheel angle sensor (2) is arranged in steering spindle (42), gear (3) and rack (4) company of engagement Connect, the longitudinally asymmetric face of the axis of rotation and rack (4) of gear (3) intersects vertically, and the right-hand member of rack (4) and the first pressure pass The left end of sensor (5) is fixedly connected, and the left end of the right-hand member and steering response simulation master cylinder (10) of the first pull pressure sensor (5) is consolidated Fixed connection.
3. according to a kind of line traffic control hydraulic steering system described in claim 1 or 2, it is characterised in that described steering response mould Intending master cylinder (10) includes First piston bar (6), the first spring (7), master cylinder piston (8), second spring (9), master cylinder body (11) With second piston bar (12)；
Described master cylinder piston (8) is arranged in master cylinder body (11), right-hand member and the master cylinder piston (8) of First piston bar (6) It is fixedly connected at the center of left side, the left end of second piston bar (12) at the center of the right side of master cylinder piston (8) with fixing Connection, and be provided between First piston bar (6), master cylinder piston (8) and second piston bar (12) and master cylinder body (11) close Seal, the first spring (7) are set in First piston bar (6) and second piston bar (12) with second spring (9), the first bullet Spring (7) left end is connected with the left cylinder wall interior side contacts of master cylinder body (11), a left side for the first spring (7) right-hand member and master cylinder piston (8) End contact connects, and the left end of second spring (9) contacts connection, the right-hand member of second spring (9) with the right side of master cylinder piston (8) Be connected with the right cylinder wall interior side contacts of master cylinder body (11), First piston bar (6), second piston bar (12), master cylinder piston (8) with Master cylinder body (11) rotation conllinear.
4. according to a kind of line traffic control hydraulic steering system described in claim 3, it is characterised in that described First piston bar (6) It is the identical straight rod member of cross sectional dimensions with second piston bar (12)；
Described the first spring (7) is with second spring (9) using the identical springs with same elastic characteristic, the first spring (7) It is identical with the initial length of second spring (9)；
The two hydraulic fluid ports i.e. hydraulic fluid port of master cylinder first (43) and the hydraulic fluid port of master cylinder second (44) are provided with described master cylinder body (11), it is main The hydraulic fluid port of cylinder first (43) is located at the right-hand member of master cylinder body (11), i.e., the master cylinder cylinder of II chamber of master cylinder (10) is simulated positioned at steering response On body (11), the hydraulic fluid port of master cylinder second (44) is located at the left end of master cylinder body (11), i.e. I positioned at steering response simulation master cylinder (10) On the master cylinder body (11) of chamber.
5. according to a kind of line traffic control hydraulic steering system described in claim 1, it is characterised in that described steering response simulation is single First (B) also include the first two-bit triplet solenoid directional control valve (14), check valve (15), the second two-bit triplet solenoid directional control valve (17) with Linear voltage regulation valve (18)；
The Single port of described first switch magnetic valve (13) and the Single port of the 3rd switch electromagnetic valve (19) use fluid pressure line The P mouths of connection, the other end of first switch magnetic valve (13) and the first two-bit triplet solenoid directional control valve (14) use fluid pressure line Connection, the A mouths of the first two-bit triplet solenoid directional control valve (14) and the oil-out of check valve (15) and the second two-bit triplet electromagnetism change Connected simultaneously using fluid pressure line to the B ports of valve (17)；The B mouths and linear voltage regulation of first two-bit triplet solenoid directional control valve (14) The A ports of the Single port of valve (18) and the second two-bit triplet solenoid directional control valve (17) are connected using fluid pressure line simultaneously, check valve (15) oil inlet is connected with fuel tank (28) using fluid pressure line, and the other end and the fuel tank (28) of linear voltage regulation valve (18) use liquid Pressure pipe road connects；
The Single port of described second switch magnetic valve (16) and the Single port of the 4th switch electromagnetic valve (20) use fluid pressure line Connection, the another port of second switch magnetic valve (16) and the P mouths of the second two-bit triplet solenoid directional control valve (17) use hydraulic tube Road connects.
6. according to a kind of line traffic control hydraulic steering system described in claim 1, it is characterised in that described electronic control unit (C) refer to respectively with steering wheel unit (A), steering response analogue unit (B) with turning to execution unit (D) electric wire and being connected：
Described electronic control unit (41) and steering wheel angle sensor (2), the first pull pressure sensor (5), first switch Magnetic valve (13), the first two-bit triplet solenoid directional control valve (14), second switch magnetic valve (16), the second two-bit triplet electromagnetic switch Valve (17), linear voltage regulation valve (18), the 3rd switch electromagnetic valve (19), the 4th switch electromagnetic valve (20), the first high-speed switch valve (21), the second high-speed switch valve (22), the 5th switch electromagnetic valve (27), the 6th switch electromagnetic valve (29), the second pressure sensing The terminals of device (34), right turn wheel rotary angle transmitter (37) and left steering wheel rotary angle transmitter (39), which are adopted, to be run wires to.
7. according to a kind of line traffic control hydraulic steering system described in claim 1, it is characterised in that described steering execution unit (D) accumulator (23), overflow valve (24), motor (25), hydraulic pump (26), the 5th switch electromagnetic valve (27), fuel tank are also included (28), the 6th switch electromagnetic valve (29), the second pull pressure sensor (34), push rod (35), Automobile Right deflecting roller (36), right turn Take turns rotary angle transmitter (37), track rod (38), left steering wheel rotary angle transmitter (39) and automobile left steering wheel (40)；
The Single port of described the first high-speed switch valve (21) enters with the steering power master cylinder second on steering power master cylinder (31) Hydraulic fluid port (46) is connected using fluid pressure line, and the other end of the first high-speed switch valve (21) uses liquid with the oil-out of hydraulic pump (26) Pressure pipe road connects；The Single port of second high-speed switch valve (22) enters with the steering power master cylinder first on steering power master cylinder (31) Hydraulic fluid port (45) is connected using fluid pressure line, and the other end of the second high-speed switch valve (22) uses liquid with the oil-out of hydraulic pump (26) Pressure pipe road connects；
The motor shaft of described motor (25) is connected with the input shaft end of hydraulic pump (26), and the oil inlet of hydraulic pump (26) is adopted It is connected with fluid pressure line with fuel tank (28), the oil-out of hydraulic pump (26) is using fluid pressure line and the oil inlet end of overflow valve (24) Mouth is connected with accumulator (23), and the fuel-displaced port of overflow valve (24) is connected with fuel tank (28) using fluid pressure line；
One end of described steering power master cylinder (31) is connected with vehicle frame or monocoque body ball pivot, steering power master cylinder (31) The other end is that the right-hand member of steering power main cylinder piston-rod (33) is connected with the left end of the second pull pressure sensor (34), and second draws The right-hand member of pressure sensor (34) is fixedly connected with the left end of push rod (35), right-hand member and track rod (38) phase of push rod (35) It is be hinged, one end of the oil-out of steering power master cylinder first (47) and the 6th switch electromagnetic valve (29) on steering power master cylinder (31) Mouth is connected using fluid pressure line, and the Single port of the oil-out of steering power master cylinder second (48) and the 5th switch electromagnetic valve (27) uses Fluid pressure line connects, the another port of the 5th switch electromagnetic valve (27) and the another port of the 6th switch electromagnetic valve (29) and fuel tank (28) it is connected using fluid pressure line；
Track rod (38) is located in steering axle of automobile, and the left and right end of track rod (38) passes through steeraxle machine driving Part and automobile left steering wheel (40) and Automobile Right deflecting roller (36) are be hinged；Right turn wheel rotary angle transmitter (37) is arranged on automobile On right turn wheel (36), left steering wheel rotary angle transmitter (39) is arranged on automobile left steering wheel (40).
8. according to a kind of line traffic control hydraulic steering system described in claim 1 or 6, it is characterised in that described steering power master Cylinder (31) includes steering power master cylinder body (30), steering power master cylinder piston (32), steering power main cylinder piston-rod (33)；
Described steering power master cylinder piston (32) is arranged in steering power master cylinder body (30), steering power main cylinder piston-rod (33) it is arranged in the steering power master cylinder body (30) on the right side of steering power master cylinder piston (32), steering power main cylinder piston-rod (33) left end with being fixedly connected at the center of steering power master cylinder piston (32) right side, steering power master cylinder piston (32), To be slidably matched between power main cylinder piston-rod (33) and steering power master cylinder body (30), steering power main cylinder piston-rod (33), sealing ring is housed, steering power master cylinder is lived between steering power master cylinder piston (32) and steering power master cylinder body (30) Fill in the rotation conllinear of (32), power main cylinder piston-rod (33) and steering power master cylinder body (30), steering power master cylinder (31) inner chamber is diverted power master cylinder piston (32) and is divided into I chamber and II chamber from left to right；
Two oil inlets, the respectively oil inlet of steering power master cylinder first are provided with described steering power master cylinder body (30) (45) it is located at steering power master cylinder with the oil inlet of steering power master cylinder second (46), the oil inlet of steering power master cylinder first (45) (31) in I chamber cylinder body, the oil inlet of steering power master cylinder second (46) is located in II chamber cylinder body of steering power master cylinder (31)；
Two oil-outs, the respectively oil-out of steering power master cylinder first are provided with described steering power master cylinder body (30) (47) it is located at steering power master cylinder with the oil-out of steering power master cylinder second (48), the oil-out of steering power master cylinder first (47) (31) in I chamber cylinder body, the oil-out of steering power master cylinder second (48) is located in II chamber cylinder body of steering power master cylinder (31).
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CN112623024B (en) * 2020-12-30 2022-07-12 徐州徐工挖掘机械有限公司 Steering system and engineering vehicle
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