CN107226128A - Electric boosting steering system and method based on bi-motor planetary gear construction - Google Patents
Electric boosting steering system and method based on bi-motor planetary gear construction Download PDFInfo
- Publication number
- CN107226128A CN107226128A CN201710339928.6A CN201710339928A CN107226128A CN 107226128 A CN107226128 A CN 107226128A CN 201710339928 A CN201710339928 A CN 201710339928A CN 107226128 A CN107226128 A CN 107226128A
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- gear
- assist motor
- torque
- motor
- steering
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Classifications
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
- B62D5/0478—Clutches
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Retarders (AREA)
Abstract
A kind of electric boosting steering system and method based on bi-motor planetary gear construction, including steering wheel, torque coupling gear, the second assist motor gear, decelerator, the first assist motor, the second assist motor, synchronizer, planetary wheeling mechanism and the first assist motor gear；The first steering spindle and the second steering spindle are disposed between steering wheel and decelerator；The first assist motor gear is provided with the output shaft of first assist motor, the first assist motor gear is connected by connecting shaft with planetary wheeling mechanism；The output shaft of second assist motor is provided with torque coupling gear, and the side of torque coupling gear is coaxially arranged with the second assist motor gear；First assist motor gear and the engagement of torque coupling gear；Synchronizer is provided between torque coupling gear and the second assist motor gear；In the present invention, pass through using cooperatively for multiple electromagnetic clutch, it is to avoid dragging influence mutually between motor, it is to avoid cause power dissipation.
Description
Technical field
It is more particularly to a kind of to be helped based on the electronic of bi-motor planetary gear construction the invention belongs to Automotive Steering Technology field
Power steering and method.
Background technology
At present, the servo steering system mostly hydraulic power-assist steering system that commercial car is used, but there is complicated, work(
Rate consumes the problems such as big, easy leakage, power steering are difficult to control and power steering characteristic is single, with hydraulic power-assisted steering
System is compared, and electric boosting steering system has that assist characteristic is adjustable, it is excellent to turn to that followability is good, fuel consumption is low and pollution-free etc.
Point, therefore be used widely in passenger car, by commercial vehicle load is big and the institute under different speeds and different loading capacity
Steering moment is needed to change in very large range, particularly under the operating mode that automobile is fully loaded and runs at a low speed, power needed for motor turning
Moment pole is big, and by automotive battery supply voltage, the limitation in terms of installation dimension, the electricity of common list electric boosting steering system
Machine can not meet requirement of this commercial car to power steering square.Therefore the present invention proposes a kind of electric power steering of bi-motor
System, not only has the advantages that common electric servo steering system, while faults-tolerant control can be realized, to motor turning portability and
Security is significant.
The content of the invention
It is an object of the invention to provide a kind of electric boosting steering system based on bi-motor planetary gear construction and side
Method, it is too small to solve electric power steering output torque, it is impossible to meet the problem of being applied in commercial car.
To achieve the above object, the present invention uses following technical scheme：
A kind of electric boosting steering system based on bi-motor planetary gear construction, including steering wheel, torque coupling gear,
Second assist motor gear, decelerator, the first assist motor, the second assist motor, synchronizer, planetary wheeling mechanism and the first power-assisted
Motor gear；The first steering spindle and the second steering spindle are disposed between steering wheel and decelerator；First assist motor it is defeated
The first assist motor gear is provided with shaft, the first assist motor gear is connected by connecting shaft with planetary wheeling mechanism；Second
The output shaft of assist motor is provided with torque coupling gear, and the side of torque coupling gear is coaxially arranged with the second assist motor tooth
Wheel；First assist motor gear and the engagement of torque coupling gear；Set between torque coupling gear and the second assist motor gear
There is synchronizer；
Planetary wheeling mechanism includes sun gear, planetary gear, planet carrier and gear ring；Sun gear is arranged on the center of gear ring, planet
Wheel is engaged between sun gear and gear ring, and planet carrier is arranged on planetary gear；First assist motor gear is vertical by connecting shaft
It is connected to the center of sun gear；Second assist motor gear is engaged with gear ring；The gear ring of planetary wheeling mechanism and the second steering spindle are logical
Cross decelerator parallel coupled.
Further, electric boosting steering system is additionally provided with control module；Set in the first steering spindle below steering wheel
It is equipped with torque rotary angle transmitter；The first electromagnetic clutch, first are provided with connecting shaft between planetary wheeling mechanism and decelerator
Overload protective device is provided between electromagnetic clutch and decelerator；In connecting shaft between first assist motor gear and sun gear
It is provided with the second electromagnetic clutch；The 3rd electricity is provided with connecting shaft between first assist motor gear and the first assist motor
Magnet clutch.
Further, torque rotary angle transmitter, the first electromagnetic clutch, the second electromagnetic clutch, the first assist motor,
Two assist motors, synchronizer and the 3rd electromagnetic clutch are connected with control module, and control module is connected with vehicle speed sensor.
Further, overload protective device includes upper terminal pad post, lower terminal pad post and rubber connecting pin；Upper terminal pad post and
Lower terminal pad post is the disk for being provided with some through holes, and is coaxially disposed；Upper terminal pad post and lower terminal pad post are logical by being arranged on
Rubber connection pin connection in hole；The upper surface of upper terminal pad post is connected by connecting shaft with the first electromagnetic clutch, lower connection
The lower surface of disk post is connected with reducer shaft.
Further, connected between the first steering spindle and the second steering spindle by universal joint.
Further, decelerator is connected with steering gear, and steering gear is provided at both ends with wheel.
Further, synchronizer can be axially moveable, can respectively with torque coupling gear and the second assist motor tooth
Wheel connection.
Further, a kind of power-assisted steering method of the electric boosting steering system based on bi-motor planetary gear construction,
The electric boosting steering system of the bi-motor planetary gear construction includes steering wheel, torque coupling gear, the second assist motor
Gear, decelerator, the first assist motor, the second assist motor, synchronizer, planetary wheeling mechanism and the first assist motor gear；Side
To being disposed with the first steering spindle and the second steering spindle between disk and decelerator；It is provided with the output shaft of first assist motor
First assist motor gear, the first assist motor gear is connected by connecting shaft with planetary wheeling mechanism；Second assist motor it is defeated
Shaft is provided with torque coupling gear, and the side of torque coupling gear is coaxially arranged with the second assist motor gear；First power-assisted
Motor gear and the engagement of torque coupling gear；It is provided with connecting shaft between torque coupling gear and the second assist motor gear
Synchronizer；
Planetary wheeling mechanism includes sun gear, planetary gear, planet carrier and gear ring；Sun gear is arranged on the center of gear ring, planet
Wheel is engaged between sun gear and gear ring, and planet carrier is arranged on planetary gear；First assist motor gear is vertical by connecting shaft
It is connected to the center of sun gear；Second assist motor gear is engaged with gear ring；The gear ring of planetary wheeling mechanism and the second steering spindle are logical
Cross decelerator parallel coupled；
Electric boosting steering system is additionally provided with control module；Torque is provided with the first steering spindle below steering wheel to turn
Angle transducer；The first electromagnetic clutch, the first electromagnetic clutch are provided with connecting shaft between planetary wheeling mechanism and decelerator
Overload protective device is provided between decelerator；Second is provided with connecting shaft between first assist motor gear and sun gear
Electromagnetic clutch；The 3rd electromagnetic clutch is provided with connecting shaft between first assist motor gear and the first assist motor；
Synchronizer can be axially moveable, and can be connected respectively with torque coupling gear and the second assist motor gear；
The power-assisted steering method of the electric boosting steering system based on bi-motor planetary gear construction, including following step
Suddenly：
1) GES of vehicle speed sensor collection, the angular signal of steering wheel torque rotary angle transmitter collection is exported to control
Molding block, and be compared with the steering moment stored in control module, steering wheel angle and speed change curve, obtain outgoing direction
The steering moment that disk should have；
2) steering moment that the steering wheel that control module obtains calculating should have is measured with torque rotary angle transmitter
Steering wheel torque is compared, and draws the torque that assist motor should be exported；
3) control module to assist motor should output torque judge, if the torque that assist motor should be exported is more than
Torque during the independent power-assisted of the first assist motor, the second assist motor, selection bi-motor coupling assistant mode, now control module
Control the first assist motor, the work of the second assist motor, the second electromagnetic clutch, the 3rd electromagnetic clutch closure, synchronizer position
Combined with torque coupling gear；
If the torque that assist motor should be exported is more than the torque of the independent power-assisted of the second assist motor, the first power-assisted is selected
The independent assistant mode of motor, now, control module control the work of the first assist motor, the shut-off of the second assist motor, the second electromagnetism
Clutch, the 3rd electromagnetic clutch closure, synchronizer are centrally located；
The independent assistant mode of second assist motor, is divided into both of which；If the torque that assist motor should be exported is more than the
The torque capacity of the independent assistant mode one of two assist motors, then select the independent assistant mode two of the second assist motor, now, control
Module controls the shut-off of the first assist motor, the work of the second assist motor, and the second electromagnetic clutch, the 3rd electromagnetic clutch are opened,
Synchronizer and the second assist motor gear are combined；If it is independent that the torque that assist motor should be exported is less than or equal to the second assist motor
The torque capacity of assistant mode one, then select the independent assistant mode one of the second assist motor, now, and control module control first is helped
Force motor shut-off, the second assist motor work, the second electromagnetic clutch closure, the 3rd electromagnetic clutch open, synchronizer and turn
Square coupling wheel is closed.
Compared with prior art, the present invention has following technique effect：
The present invention is by setting bi-motor planetary gear construction, according to the size of required power torque, it is possible to achieve flexibly
Changeable assistant mode, meets the demand of the big power torque of commerial vehicle.When demand power torque is relatively small, according to condition
The independent assist motor of assistant mode one and second of the independent assistant mode of the assist motor of different choice first, the second assist motor is independent
Assistant mode two；When demand power torque is relatively large, bi-motor can be selected to couple assistant mode.The present invention is for improving
Fuel economy and driver's driver comfort have important effect.
In the present invention, pass through using cooperatively for multiple electromagnetic clutch, it is to avoid dragging influence mutually between motor, it is to avoid
Cause power dissipation.
In the present invention, turned round by setting decelerator to play a part of slowing down increasing, further improve assist motor output torque；
The present invention is by setting overload protective device, when motor and control module failure, when occurring auto-steering, because torque is excessive, rubber
Gemel connection pin will be broken, cut-out torque transmission, play a part of overload protection.
In the present invention, the first electromagnetic clutch is in normally off, and when motor breaks down, the first electromagnetic clutch is opened
Open, prevent vehicle auto-steering from occurring major accident, system is played a protective role.The present invention includes overload protective device and first
The duplicate protection of electromagnetic clutch, it is ensured that the steering reliability under electric power steering failure.
Brief description of the drawings
Fig. 1 is the structure chart of dual-motor electric servo steering system of the present invention；
Fig. 2 a are the structure chart of overload protective device；
Terminal pad post and the sectional view of lower terminal pad post junction on Fig. 2 b；
Fig. 3 is the control strategy figure of dual-motor electric servo steering system of the present invention.
Wherein：1st, steering wheel；2nd, torque rotary angle transmitter；3rd, control module；4th, universal joint；5th, torque coupling gear；6、
Second assist motor gear；7th, gear ring；8th, decelerator；9th, wheel；10th, steering gear；11st, overload protective device；12nd, the first electromagnetism from
Clutch；13rd, planet carrier；14th, sun gear；15th, planetary gear；16th, the second electromagnetic clutch；17th, the first assist motor gear；18、
Synchronizer；19th, the second electromagnetic clutch；20th, the first assist motor；21st, the second assist motor；22nd, the second steering spindle；23rd,
One steering spindle；24th, upper terminal pad post；25th, lower terminal pad post；26th, rubber connecting pin.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described：
Refer to Fig. 1 to Fig. 3, a kind of electric boosting steering system based on bi-motor planetary gear construction, including direction
It is disk 1, torque coupling gear 5, the second assist motor gear 6, decelerator 8, the first assist motor 20, the second assist motor 21, same
Walk device 18, planetary wheeling mechanism and the first assist motor gear 17；The first steering is disposed between steering wheel 1 and decelerator 8
The steering spindle 22 of axle 23 and second；The first assist motor gear 17, the first power-assisted are provided with the output shaft of first assist motor 20
Motor gear 17 is connected by connecting shaft with planetary wheeling mechanism；The output shaft of second assist motor 21 is provided with torque coupling gear
5, the side of torque coupling gear 5 is coaxially arranged with the second assist motor gear 6；First assist motor gear 17 and torque coupling
Gear 5 is engaged；Synchronizer 18 is provided between the assist motor gear 6 of torque coupling gear 5 and second；
Planetary wheeling mechanism includes sun gear 14, planetary gear 15, planet carrier 13 and gear ring 7；Sun gear 14 is arranged on gear ring 7
Center, planetary gear 15 is engaged between sun gear 14 and gear ring 7, and planet carrier 13 is arranged on planetary gear 15；First assist motor
Gear 17 is vertically connected at the center of sun gear 14 by connecting shaft；Second assist motor gear 6 is engaged with gear ring 7；Planetary gear
The steering spindle 22 of gear ring 7 and second of mechanism passes through the parallel coupled of decelerator 8.
Electric boosting steering system is additionally provided with control module 3；It is provided with and turns in first steering spindle 23 of the lower section of steering wheel 1
Square rotary angle transmitter 2；The first electromagnetic clutch 12, the first electricity are provided with connecting shaft between planetary wheeling mechanism and decelerator 8
Overload protective device 11 is provided between magnet clutch 12 and decelerator 8；Between first assist motor gear 17 and sun gear 14
The second electromagnetic clutch 16 is provided with connecting shaft；Connecting shaft between first assist motor gear 17 and the first assist motor 20
On be provided with the 3rd electromagnetic clutch 19.
Torque rotary angle transmitter 2, the first electromagnetic clutch 12, the second electromagnetic clutch 16, the first assist motor 20, second
Assist motor 21, the electromagnetic clutch 19 of synchronizer 18 and the 3rd are connected with control module 3, and control module 3 is connected with speed biography
Sensor.
Overload protective device 11 includes upper terminal pad post 24, lower terminal pad post 26 and rubber connecting pin 25；Upper terminal pad post 24
With lower terminal pad post 26 to be provided with the disk of some through holes, and it is coaxially disposed；Upper terminal pad post 24 and lower terminal pad post 26 pass through
The rubber connecting pin 25 being arranged in through hole is connected；The upper surface of upper terminal pad post 24 passes through connecting shaft and the first electromagnetic clutch
12 connections, the lower surface of lower terminal pad post 26 is connected with the axle of decelerator 8.
Connected between first steering spindle 23 and the second steering spindle 22 by universal joint 4.
Decelerator 8 is connected with steering gear 10, and steering gear 10 is provided at both ends with wheel 9.
Synchronizer can be axially moveable, and can be connected respectively with the assist motor gear 6 of torque coupling gear 5 and second.
The operation principle of the present invention is as follows：
1) vehicle speed sensor collection GES, steering wheel torque rotary angle transmitter 2 gather angular signal export to
Control module 3, and be compared with the steering moment, steering wheel angle and speed change curve that are stored in control module 3, draw
The steering moment that steering wheel should have；
2) steering moment that the steering wheel that control module 3 obtains calculating should have is measured with torque rotary angle transmitter 2
Steering wheel torque be compared, draw the torque that assist motor should be exported；
3) control module 3 to assist motor should output torque judge, if the torque that assist motor should be exported is big
Torque when the first assist motor 20, the second 21 independent power-assisted of assist motor, selection bi-motor coupling assistant mode, this time control
Molding block 3 controls the first assist motor 20, the second assist motor 21 to work, the second electromagnetic clutch 16, the 3rd electromagnetic clutch
19 closures, synchronizer position 18 is combined with torque coupling gear 5；
If the torque that assist motor should be exported is more than the torque of the independent power-assisted of the second assist motor 21, selection first is helped
The independent assistant mode of force motor 20, now, the first assist motor 20 is worked, the second assist motor 21 is turned off for control module control,
Second electromagnetic clutch 16, the 3rd electromagnetic clutch closure 19, synchronizer 18 is centrally located；
The independent assistant mode of second assist motor 21, is divided into both of which；If the torque that assist motor should be exported is more than
The torque capacity of the independent assistant mode one of second assist motor 21, then select the independent assistant mode two of the second assist motor 21, this
When, the first assist motor 20 is turned off, the second assist motor 21 works for control module control, the electricity of the second electromagnetic clutch the 16, the 3rd
Magnet clutch 19 is opened, and the assist motor gear 6 of synchronizer 18 and second is combined；If the torque that assist motor should be exported be less than etc.
In the torque capacity of the independent assistant mode one of the second assist motor 21, then the independent assistant mode one of the second assist motor 21 is selected,
Now, the first assist motor 20 is turned off, the second assist motor 21 works for control module control, the second electromagnetic clutch 16 closes,
3rd electromagnetic clutch 19 is opened, and synchronizer 18 and torque coupling gear 5 are closed.
Claims (8)
1. a kind of electric boosting steering system based on bi-motor planetary gear construction, it is characterised in that including steering wheel (1),
Torque coupling gear (5), the second assist motor gear (6), decelerator (8), the first assist motor (20), the second assist motor
(21), synchronizer (18), planetary wheeling mechanism and the first assist motor gear (17)；Between steering wheel (1) and decelerator (8) successively
It is provided with the first steering spindle (23) and the second steering spindle (22)；The first power-assisted is provided with the output shaft of first assist motor (20)
Motor gear (17), the first assist motor gear (17) is connected by connecting shaft with planetary wheeling mechanism；Second assist motor (21)
Output shaft be provided with torque coupling gear (5), the side of torque coupling gear (5) is coaxially arranged with the second assist motor gear
(6)；First assist motor gear (17) and torque coupling gear (5) engagement；Torque coupling gear (5) and the second assist motor tooth
Synchronizer (18) is provided between wheel (6)；
Planetary wheeling mechanism includes sun gear (14), planetary gear (15), planet carrier (13) and gear ring (7)；Sun gear (14) is arranged on
The center of gear ring (7), planetary gear (15) is engaged between sun gear (14) and gear ring (7), and planet carrier (13) is arranged on planetary gear
(15) on；First assist motor gear (17) is vertically connected at the center of sun gear (14) by connecting shaft；Second assist motor
Gear (6) is engaged with gear ring (7)；The gear ring (7) of planetary wheeling mechanism and the second steering spindle (22) pass through decelerator (8) coupling in parallel
Close.
2. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, its feature
It is, electric boosting steering system is additionally provided with control module (3)；Set in the first steering spindle (23) below steering wheel (1)
There is torque rotary angle transmitter (2)；The first electromagnetic clutch is provided with connecting shaft between planetary wheeling mechanism and decelerator (8)
(12) overload protective device (11), is provided between the first electromagnetic clutch (12) and decelerator (8)；First assist motor gear
(17) it is provided with the second electromagnetic clutch (16) in the connecting shaft between sun gear (14)；First assist motor gear (17) with
The 3rd electromagnetic clutch (19) is provided with connecting shaft between first assist motor (20).
3. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 2, its feature
It is, torque rotary angle transmitter (2), the first electromagnetic clutch (12), the second electromagnetic clutch (16), the first assist motor
(20), the second assist motor (21), synchronizer (18) and the 3rd electromagnetic clutch (19) are connected with control module (3), control
Module (3) is connected with vehicle speed sensor.
4. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 2, its feature
It is, overload protective device (11) includes upper terminal pad post (24), lower terminal pad post (26) and rubber connecting pin (25)；Upper terminal pad
Post (24) and lower terminal pad post (26) are coaxially disposed to be provided with the disk of some through holes；Upper terminal pad post (24) and lower connection
Disk post (26) is connected by the rubber connecting pin (25) being arranged in through hole；The upper surface of upper terminal pad post (24) passes through connecting shaft
It is connected with the first electromagnetic clutch (12), the lower surface of lower terminal pad post (26) is connected with decelerator (8) axle.
5. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, its feature
It is, is connected between the first steering spindle (23) and the second steering spindle (22) by universal joint (4).
6. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, its feature
It is, decelerator (8) is connected with steering gear (10), steering gear (10) is provided at both ends with wheel (9).
7. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, its feature
It is, synchronizer can be axially moveable, can be connected respectively with torque coupling gear (5) and the second assist motor gear (6).
8. a kind of power-assisted steering method of the electric boosting steering system based on bi-motor planetary gear construction, it is characterised in that
The electric boosting steering system of the bi-motor planetary gear construction is helped including steering wheel (1), torque coupling gear (5), second
Force motor gear (6), decelerator (8), the first assist motor (20), the second assist motor (21), synchronizer (18), planet turbine
Structure and the first assist motor gear (17)；The first steering spindle (23) and are disposed between steering wheel (1) and decelerator (8)
Two steering spindles (22)；The first assist motor gear (17), the first power-assisted electricity are provided with the output shaft of first assist motor (20)
Machine gear (17) is connected by connecting shaft with planetary wheeling mechanism；The output shaft of second assist motor (21) is provided with torque coupling tooth
Take turns (5), the side of torque coupling gear (5) is coaxially arranged with the second assist motor gear (6)；First assist motor gear (17)
With torque coupling gear (5) engagement；Set in connecting shaft between torque coupling gear (5) and the second assist motor gear (6)
There is synchronizer (18)；
Planetary wheeling mechanism includes sun gear (14), planetary gear (15), planet carrier (13) and gear ring (7)；Sun gear (14) is arranged on
The center of gear ring (7), planetary gear (15) is engaged between sun gear (14) and gear ring (7), and planet carrier (13) is arranged on planetary gear
(15) on；First assist motor gear (17) is vertically connected at the center of sun gear (14) by connecting shaft；Second assist motor
Gear (6) is engaged with gear ring (7)；The gear ring (7) of planetary wheeling mechanism and the second steering spindle (22) pass through decelerator (8) coupling in parallel
Close；
Electric boosting steering system is additionally provided with control module (3)；It is provided with the first steering spindle (23) below steering wheel (1)
Torque rotary angle transmitter (2)；The first electromagnetic clutch is provided with connecting shaft between planetary wheeling mechanism and decelerator (8)
(12) overload protective device (11), is provided between the first electromagnetic clutch (12) and decelerator (8)；First assist motor gear
(17) it is provided with the second electromagnetic clutch (16) in the connecting shaft between sun gear (14)；First assist motor gear (17) with
The 3rd electromagnetic clutch (19) is provided with connecting shaft between first assist motor (20)；
Synchronizer can be axially moveable, and can be connected respectively with torque coupling gear (5) and the second assist motor gear (6)；
The power-assisted steering method of the electric boosting steering system based on bi-motor planetary gear construction, comprises the following steps：
1) GES of vehicle speed sensor collection, the angular signal of steering wheel torque rotary angle transmitter (2) collection is exported to control
Molding block (3), and be compared with steering moment, steering wheel angle and the speed change curve of storage in control module (3), obtain
The steering moment that outgoing direction disk should have；
2) steering moment that the steering wheel that control module (3) obtains calculating should have is measured with torque rotary angle transmitter (2)
Steering wheel torque be compared, draw the torque that assist motor should be exported；
3) control module (3) to assist motor should output torque judge, if the torque that assist motor should be exported is more than
First assist motor (20), the second assist motor (21) individually power-assisted when torque, selection bi-motor coupling assistant mode, now
Control module (3) controls the first assist motor (20), the second assist motor (21) work, the second electromagnetic clutch (16), the 3rd
Electromagnetic clutch (19) is closed, and synchronizer position (18) is combined with torque coupling gear (5)；
If the torque that assist motor should be exported is more than the torque of the independent power-assisted of the second assist motor (21), the first power-assisted is selected
The independent assistant mode of motor (20), now, control module controls the first assist motor (20) work, the second assist motor (21) to close
Disconnected, the second electromagnetic clutch (16), the 3rd electromagnetic clutch closure (19), synchronizer (18) are centrally located；
The independent assistant mode of second assist motor (21), is divided into both of which；If the torque that assist motor should be exported is more than the
The torque capacity of the independent assistant mode one of two assist motors (21), then select the second assist motor (21) individually assistant mode two,
Now, control module controls the first assist motor (20) shut-off, the second assist motor (21) work, the second electromagnetic clutch
(16), the 3rd electromagnetic clutch (19) is opened, and synchronizer (18) and the second assist motor gear (6) are combined；If assist motor should
When the torque of output is less than or equal to the torque capacity of the independent assistant mode one of the second assist motor (21), then the second power-assisted electricity is selected
The independent assistant mode one of machine (21), now, control module controls the first assist motor (20) shut-off, the second assist motor (21) work
Make, the second electromagnetic clutch (16) closure, the 3rd electromagnetic clutch (19) are opened, synchronizer (18) and torque coupling gear (5)
Close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710339928.6A CN107226128B (en) | 2017-05-15 | 2017-05-15 | Electric boosting steering system and method based on bi-motor planetary gear construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN109466621A (en) * | 2018-10-22 | 2019-03-15 | 江苏大学 | Three motor wire-controlled steering systems of one kind and its control method |
| CN109911006A (en) * | 2019-03-22 | 2019-06-21 | 长安大学 | A kind of dual-motor electric servo steering system and its method based on synchronizer |
| CN112747097A (en) * | 2020-12-30 | 2021-05-04 | 苏州绿科智能机器人研究院有限公司 | Alternative operation type RV reducer integrated device |
| CN112896298A (en) * | 2021-02-22 | 2021-06-04 | 江苏大学 | Steer-by-wire fault-tolerant device with differential control function and control method thereof |
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| CN109911006A (en) * | 2019-03-22 | 2019-06-21 | 长安大学 | A kind of dual-motor electric servo steering system and its method based on synchronizer |
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| CN112896298A (en) * | 2021-02-22 | 2021-06-04 | 江苏大学 | Steer-by-wire fault-tolerant device with differential control function and control method thereof |
| CN112896298B (en) * | 2021-02-22 | 2022-03-22 | 江苏大学 | Steer-by-wire fault-tolerant device with differential control function and control method thereof |
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