CN107226128B - 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
- CN107226128B CN107226128B CN201710339928.6A CN201710339928A CN107226128B CN 107226128 B CN107226128 B CN 107226128B CN 201710339928 A CN201710339928 A CN 201710339928A CN 107226128 B CN107226128 B CN 107226128B
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- Prior art keywords
- gear
- assist motor
- motor
- torque
- electromagnetic clutch
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Classifications
-
- 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
-
- 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
-
- 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)
- Retarders (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Power Steering Mechanism (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, retarder, the first assist motor, the second assist motor, synchronizer, planetary gear mechanism and the first assist motor gear；The first steering shaft and the second steering shaft are disposed between steering wheel and retarder；The first assist motor gear is provided on the output shaft of first assist motor, the first assist motor gear is connect by connecting shaft with planetary gear 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, by being used cooperatively for multiple electromagnetic clutch, dragging influence mutually between motor is avoided, power dissipation is avoided.
Description
Technical field
The invention belongs to Automotive Steering Technology fields, in particular to a kind of to be helped based on the electronic of bi-motor planetary gear construction
Power steering system and method.
Background technique
Currently, the servo steering system that commercial vehicle uses is mostly hydraulic power-assist steering system, but in the presence of structure is complicated, function
Rate consumption is big, easily reveal, power steering is not easy to control and the problems such as power steering characteristic is single, with hydraulic power-assisted steering
System is compared, and electric boosting steering system has that assist characteristic is adjustable, turns to that followability is good, fuel consumption is low and pollution-free etc. excellent
Point, therefore be used widely in passenger car, since 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, especially under the operating condition 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 of installation dimension etc., the electricity of common list electric boosting steering system
Machine has been unable to meet requirement of this commercial vehicle 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 can realize faults-tolerant control, to motor turning portability and
Safety is significant.
Summary of the invention
The purpose of the present invention is to provide a kind of electric boosting steering system based on bi-motor planetary gear construction and sides
Method, to solve the problem of that too small be unable to satisfy of electric power steering output torque is applied in commercial vehicle.
To achieve the above object, the invention adopts the 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, retarder, the first assist motor, the second assist motor, synchronizer, planetary gear mechanism and the first power-assisted
Motor gear；The first steering shaft and the second steering shaft are disposed between steering wheel and retarder；First assist motor it is defeated
The first assist motor gear is provided on shaft, the first assist motor gear is connect by connecting shaft with planetary gear 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；It is arranged between torque coupling gear and the second assist motor gear
There is synchronizer；
Planetary gear mechanism includes sun gear, planetary gear, planet carrier and gear ring；The center of gear ring, planet is arranged in sun gear
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 gear mechanism and the second steering shaft are logical
Cross retarder parallel coupled.
Further, electric boosting steering system is additionally provided with control module；It is set in the first steering shaft below steering wheel
It is equipped with torque rotary angle transmitter；It is provided with the first electromagnetic clutch in connecting shaft between planetary gear mechanism and retarder, first
Overload protective device is provided between electromagnetic clutch and retarder；In connecting shaft between first assist motor gear and sun gear
It is provided with the second electromagnetic clutch；Third electricity is provided in 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 third electromagnetic clutch are connect with control module, and control module is connected with vehicle speed sensor.
Further, overload protective device includes upper terminal pad column, lower terminal pad column and rubber connecting pin；Upper terminal pad column and
Lower terminal pad column is the disk for being provided with several through-holes, and is coaxially disposed；Upper terminal pad column and lower terminal pad column are being led to by setting
Rubber in hole connects pin connection；The upper surface of upper terminal pad column is connect by connecting shaft with the first electromagnetic clutch, lower connection
The lower surface of disk column is connect with reducer shaft.
Further, it is connected between the first steering shaft and the second steering shaft by universal joint.
Further, retarder is connected with diverter, and the both ends of diverter are provided 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, retarder, the first assist motor, the second assist motor, synchronizer, planetary gear mechanism and the first assist motor gear；Side
To being disposed with the first steering shaft and the second steering shaft between disk and retarder；It is provided on the output shaft of first assist motor
First assist motor gear, the first assist motor gear are connect by connecting shaft with planetary gear 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 in connecting shaft between torque coupling gear and the second assist motor gear
Synchronizer；
Planetary gear mechanism includes sun gear, planetary gear, planet carrier and gear ring；The center of gear ring, planet is arranged in sun gear
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 gear mechanism and the second steering shaft are logical
Cross retarder parallel coupled；
Electric boosting steering system is additionally provided with control module；Torque is provided in the first steering shaft below steering wheel to turn
Angle transducer；The first electromagnetic clutch, the first electromagnetic clutch are provided in connecting shaft between planetary gear mechanism and retarder
Overload protective device is provided between retarder；Second is provided in connecting shaft between first assist motor gear and sun gear
Electromagnetic clutch；Third electromagnetic clutch is provided in connecting shaft between first assist motor gear and the first assist motor；
Synchronizer can be axially moveable, and can be connect 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
It is rapid:
1) angular signal of the speed signal of vehicle speed sensor acquisition, the acquisition of steering wheel torque rotary angle transmitter is exported to control
Molding block, and be compared with the steering moment, steering wheel angle and speed change curve stored in control module, obtain direction
The steering moment that disk should have；
2) control module measures steering moment and torque rotary angle transmitter that the steering wheel being calculated should have
Steering wheel torque is compared, and obtains the torque that assist motor should export；
3) control module to assist motor should output torque judge, if the torque that assist motor should export is greater than
Torque when the independent power-assisted of the first assist motor, the second assist motor selects bi-motor to couple assistant mode, at this time control module
Control the first assist motor, the second assist motor work, the second electromagnetic clutch, third electromagnetic clutch closure, synchronizer with
Torque coupling gear combines；
If the torque that assist motor should export is greater 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, at this point, control module controls the work of the first assist motor, the shutdown of the second assist motor, the second electromagnetism
Clutch, third 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 export is greater than the
The torque capacity of the independent assistant mode one of two assist motors then selects the independent assistant mode two of the second assist motor, at this point, control
Module controls the shutdown of the first assist motor, the work of the second assist motor, and the second electromagnetic clutch, third electromagnetic clutch are opened,
Synchronizer and the second assist motor gear combine；If it is independent that the torque that assist motor should export is less than or equal to the second assist motor
The torque capacity of assistant mode one then selects the independent assistant mode one of the second assist motor, at this point, control module control first helps
Force motor shutdown, the second assist motor work, the second electromagnetic clutch closure, third electromagnetic clutch open, synchronizer and turn
Square coupler gear is closed.
Compared with prior art, the present invention has following technical effect:
The present invention is by setting bi-motor planetary gear construction, according to the size of required power torque, may be implemented flexibly
Changeable assistant mode meets the needs of commerial vehicle big power torque.When demand power torque is relatively small, according to condition
The independent assistant mode of difference the first assist motor of selection, the independent assistant mode one of the second assist motor and the second assist motor are independent
Assistant mode two；When demand power torque is relatively large, bi-motor coupling assistant mode can choose.The present invention is for improving
Fuel economy and driver's driver comfort play an important role.
In the present invention, by being used cooperatively for multiple electromagnetic clutch, dragging influence mutually between motor is avoided, is avoided
Cause power dissipation.
In the present invention, plays the role of deceleration torque increase by the way that retarder is arranged, further increase assist motor output torque；
The present invention is by setting overload protective device, when motor and control module failure, when auto-steering occurs, and since torque is excessive, rubber
Glue connection outbound will be broken, and is cut off torque transfer, is played the role 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
It opens, prevents vehicle auto-steering from major accident occurs, play a protective role to system.The present invention includes overload protective device and first
The duplicate protection of electromagnetic clutch guarantees the steering reliability under electric power steering failure.
Detailed description of the invention
Fig. 1 is the structure chart of dual-motor electric servo steering system of the present invention；
Fig. 2 a is the structure chart of overload protective device；
The cross-sectional view of terminal pad column and lower terminal pad column junction on Fig. 2 b；
Fig. 3 is the control strategy figure of dual-motor electric servo steering system of the present invention.
Wherein: 1, steering wheel；2, torque rotary angle transmitter；3, control module；4, universal joint；5, torque coupling gear；6,
Second assist motor gear；7, gear ring；8, retarder；9, wheel；10, diverter；11, overload protective device；12, the first electromagnetism from
Clutch；13, planet carrier；14, sun gear；15, planetary gear；16, the second electromagnetic clutch；17, the first assist motor gear；18,
Synchronizer；19, third electromagnetic clutch；20, the first assist motor；21, the second assist motor；22, the second steering shaft；23,
One steering shaft；24, upper terminal pad column；25, rubber connecting pin；26, lower terminal pad column.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
It please refers 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, retarder 8, the first assist motor 20, the second assist motor 21, same
Walk device 18, planetary gear mechanism and the first assist motor gear 17；The first steering is disposed between steering wheel 1 and retarder 8
Axis 23 and the second steering shaft 22；The first assist motor gear 17, the first power-assisted are provided on the output shaft of first assist motor 20
Motor gear 17 is connect by connecting shaft with planetary gear 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 engages；Synchronizer 18 is provided between torque coupling gear 5 and the second assist motor gear 6；
Planetary gear mechanism includes sun gear 14, planetary gear 15, planet carrier 13 and gear ring 7；Gear ring 7 is arranged in sun gear 14
Center, planetary gear 15 are 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 gear ring 7 of mechanism and the second steering shaft 22 pass through 8 parallel coupled of retarder.
Electric boosting steering system is additionally provided with control module 3；It is provided with and turns in first steering shaft 23 of 1 lower section of steering wheel
Square rotary angle transmitter 2；The first electromagnetic clutch 12, the first electricity are provided in connecting shaft between planetary gear mechanism and retarder 8
Overload protective device 11 is provided between magnet clutch 12 and retarder 8；Between first assist motor gear 17 and sun gear 14
The second electromagnetic clutch 16 is provided in connecting shaft；Connecting shaft between first assist motor gear 17 and the first assist motor 20
On be provided with third 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, synchronizer 18 and third electromagnetic clutch 19 are connect with control module 3, and control module 3 is connected with speed biography
Sensor.
Overload protective device 11 includes upper terminal pad column 24, lower terminal pad column 26 and rubber connecting pin 25；Upper terminal pad column 24
It is to be provided with the disk of several through-holes, and be coaxially disposed with lower terminal pad column 26；Upper terminal pad column 24 and lower terminal pad column 26 pass through
The rubber connecting pin 25 being arranged in through-hole connects；The upper surface of upper terminal pad column 24 passes through connecting shaft and the first electromagnetic clutch
12 connections, the lower surface of lower terminal pad column 26 and 8 axis connection of retarder.
It is connected between first steering shaft 23 and the second steering shaft 22 by universal joint 4.
Retarder 8 is connected with diverter 10, and the both ends of diverter 10 are provided with wheel 9.
Synchronizer can be axially moveable, and can be connect respectively with torque coupling gear 5 and the second assist motor gear 6.
Working principle of the present invention is as follows:
1) vehicle speed sensor acquisition speed signal, steering wheel torque rotary angle transmitter 2 acquire angular signal export to
Control module 3, and be compared with the steering moment, steering wheel angle and speed change curve stored in control module 3, it obtains
The steering moment that steering wheel should have；
2) control module 3 measures the steering moment that the steering wheel being calculated should have with torque rotary angle transmitter 2
Steering wheel torque be compared, obtain the torque that assist motor should export；
3) control module 3 to assist motor should output torque judge, if the torque that assist motor should export is big
Torque when the first assist motor 20, the second 21 independent power-assisted of assist motor selects bi-motor to couple assistant mode, this time control
Molding block 3 controls the first assist motor 20, the work of the second assist motor 21, the second electromagnetic clutch 16, third electromagnetic clutch
19 closures, synchronizer 18 are combined with torque coupling gear 5；
If the torque that assist motor should export is greater than the torque of the independent power-assisted of the second assist motor 21, first is selected to help
The independent assistant mode of force motor 20, at this point, control module controls the work of the first assist motor 20, the shutdown of the second assist motor 21,
Second electromagnetic clutch 16, third 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 export is greater than
The torque capacity of the independent assistant mode one of second assist motor 21 then selects the independent assistant mode two of the second assist motor 21, this
When, control module controls the shutdown of the first assist motor 20, the work of the second assist motor 21, the second electromagnetic clutch 16, third electricity
Magnet clutch 19 is opened, and synchronizer 18 and the second assist motor gear 6 combine；If the torque that assist motor should export 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,
At this point, control module controls the shutdown of the first assist motor 20, the second assist motor 21 works, the second electromagnetic clutch 16 closure,
Third electromagnetic clutch 19 is opened, and synchronizer 18 and torque coupling gear 5 close.
Claims (8)
1. a kind of electric boosting steering system based on bi-motor planetary gear construction, which is characterized in that including steering wheel (1),
Torque coupling gear (5), the second assist motor gear (6), retarder (8), the first assist motor (20), the second assist motor
(21), synchronizer (18), planetary gear mechanism and the first assist motor gear (17)；Between steering wheel (1) and retarder (8) successively
It is provided with the first steering shaft (23) and the second steering shaft (22)；The first power-assisted is provided on the output shaft of first assist motor (20)
Motor gear (17), the first assist motor gear (17) are connect by connecting shaft with planetary gear 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) are provided between wheel (6)；
Planetary gear mechanism includes sun gear (14), planetary gear (15), planet carrier (13) and gear ring (7)；Sun gear (14) setting exists
The center of gear ring (7), planetary gear (15) are engaged between sun gear (14) and gear ring (7), and planet carrier (13) is arranged in 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 gear mechanism and the second steering shaft (22) pass through retarder (8) coupling in parallel
It closes.
2. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, feature
It is, electric boosting steering system is additionally provided with control module (3)；It is arranged in the first steering shaft (23) below steering wheel (1)
There are torque rotary angle transmitter (2)；The first electromagnetic clutch is provided in connecting shaft between planetary gear mechanism and retarder (8)
(12), it is provided between the first electromagnetic clutch (12) and retarder (8) overload protective device (11)；First assist motor gear
(17) the second electromagnetic clutch (16) are provided in the connecting shaft between sun gear (14)；First assist motor gear (17) with
Third electromagnetic clutch (19) are provided in 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, 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 third electromagnetic clutch (19) are connect 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, feature
It is, overload protective device (11) includes upper terminal pad column (24), lower terminal pad column (26) and rubber connecting pin (25)；Upper terminal pad
Column (24) and lower terminal pad column (26) are the disk for being provided with several through-holes, and are coaxially disposed；Upper terminal pad column (24) and lower connection
Disk column (26) passes through the rubber connecting pin (25) being arranged in through-hole and connects；The upper surface of upper terminal pad column (24) passes through connecting shaft
It is connect with the first electromagnetic clutch (12), the lower surface of lower terminal pad column (26) and retarder (8) axis connection.
5. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, feature
It is, is connected between the first steering shaft (23) and the second steering shaft (22) by universal joint (4).
6. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, feature
It is, retarder (8) is connected with diverter (10), and the both ends of diverter (10) are provided with wheel (9).
7. a kind of electric boosting steering system based on bi-motor planetary gear construction according to claim 1, feature
It is, synchronizer can be axially moveable, and can be connect 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, which is characterized in that
The electric boosting steering system of the bi-motor planetary gear construction includes steering wheel (1), torque coupling gear (5), second helps
Force motor gear (6), retarder (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 shaft (23) and are disposed between steering wheel (1) and retarder (8)
Two steering shafts (22)；The first assist motor gear (17), the first power-assisted electricity are provided on the output shaft of first assist motor (20)
Machine gear (17) is connect by connecting shaft with planetary gear mechanism；The output shaft of second assist motor (21) is provided with torque coupling tooth
It takes turns (5), the side of torque coupling gear (5) is coaxially arranged with the second assist motor gear (6)；First assist motor gear (17)
It is engaged with torque coupling gear (5)；It is arranged in connecting shaft between torque coupling gear (5) and the second assist motor gear (6)
There are synchronizer (18)；
Planetary gear mechanism includes sun gear (14), planetary gear (15), planet carrier (13) and gear ring (7)；Sun gear (14) setting exists
The center of gear ring (7), planetary gear (15) are engaged between sun gear (14) and gear ring (7), and planet carrier (13) is arranged in 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 gear mechanism and the second steering shaft (22) pass through retarder (8) coupling in parallel
It closes；
Electric boosting steering system is additionally provided with control module (3)；It is provided in the first steering shaft (23) below steering wheel (1)
Torque rotary angle transmitter (2)；The first electromagnetic clutch is provided in connecting shaft between planetary gear mechanism and retarder (8)
(12), it is provided between the first electromagnetic clutch (12) and retarder (8) overload protective device (11)；First assist motor gear
(17) the second electromagnetic clutch (16) are provided in the connecting shaft between sun gear (14)；First assist motor gear (17) with
Third electromagnetic clutch (19) are provided in connecting shaft between first assist motor (20)；
Synchronizer can be axially moveable, and can be connect 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, comprising the following steps:
1) angular signal of the speed signal of vehicle speed sensor acquisition, steering wheel torque rotary angle transmitter (2) acquisition is exported to control
Molding block (3), and be compared with steering moment, steering wheel angle and the speed change curve stored in control module (3), it obtains
The steering moment that steering wheel should have out；
2) control module (3) measures the steering moment that the steering wheel being calculated should have with torque rotary angle transmitter (2)
Steering wheel torque be compared, obtain the torque that assist motor should export；
3) control module (3) to assist motor should output torque judge, if the torque that assist motor should export is greater than
Torque when the first assist motor (20), the second assist motor (21) independent power-assisted selects bi-motor to couple assistant mode, at this time
Control module (3) controls the first assist motor (20), the second assist motor (21) work, the second electromagnetic clutch (16), third
Electromagnetic clutch (19) closure, synchronizer (18) and torque coupling gear (5) combine；
If the torque that assist motor should export is greater than the torque of the second assist motor (21) independent power-assisted, the first power-assisted is selected
Motor (20) independent assistant mode, at this point, control module control the first assist motor (20) work, the second assist motor (21) are closed
Disconnected, the second electromagnetic clutch (16), third electromagnetic clutch are closed (19), and synchronizer (18) is centrally located；
Second assist motor (21) independent assistant mode, is divided into both of which；If the torque that assist motor should export is greater than the
The torque capacity of the independent assistant mode one of two assist motors (21) then selects the second assist motor (21) individually assistant mode two,
At this point, control module control the first assist motor (20) shutdown, the second assist motor (21) work, the second electromagnetic clutch
(16), third electromagnetic clutch (19) is opened, and synchronizer (18) and the second assist motor gear (6) combine；If assist motor is answered
When the torque of output is less than or equal to the torque capacity of the second assist motor (21) independent assistant mode one, then select the second power-assisted electric
The independent assistant mode one of machine (21), at this point, control module control the first assist motor (20) shutdown, the second assist motor (21) work
Make, the second electromagnetic clutch (16) closure, third electromagnetic clutch (19) are opened, synchronizer (18) and torque coupling gear (5)
It closes.
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 |
|---|---|---|---|
| CN201710339928.6A CN107226128B (en) | 2017-05-15 | 2017-05-15 | Electric boosting steering system and method based on bi-motor planetary gear construction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107226128A CN107226128A (en) | 2017-10-03 |
| CN107226128B true CN107226128B (en) | 2019-03-05 |
Family
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| CN109466621B (en) * | 2018-10-22 | 2020-11-20 | 江苏大学 | Three-motor steer-by-wire system and control method thereof |
| CN109911006B (en) * | 2019-03-22 | 2021-02-26 | 长安大学 | Dual-motor electric power steering system based on synchronizer and method thereof |
| CN112747097B (en) * | 2020-12-30 | 2022-05-24 | 苏州绿科智能机器人研究院有限公司 | Alternative operation type RV reducer integrated device |
| 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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| US6575265B2 (en) * | 2000-03-30 | 2003-06-10 | Delphi Technologies, Inc. | Linear differential assisted controlled steering |
| DE10053335B4 (en) * | 2000-10-27 | 2006-09-07 | Robert Bosch Gmbh | SbW steering system for motor vehicles |
| CN102009686B (en) * | 2010-11-25 | 2013-01-09 | 南京航空航天大学 | Method for controlling power-assisted motor of electrical power-assisted steering system under intervention of active steering |
| CN103085863B (en) * | 2013-01-18 | 2016-02-17 | 河南科技大学 | The active front steering system of combined with electrical power-assisted steering |
| CN206086349U (en) * | 2016-08-30 | 2017-04-12 | 上海交通大学 | Coaxial coupling drive system of two epicyclie gear bi -motors |
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