CN107226130A - Electric boosting steering system and its diversion experiments simulation system - Google Patents
Electric boosting steering system and its diversion experiments simulation system Download PDFInfo
- Publication number
- CN107226130A CN107226130A CN201710599270.2A CN201710599270A CN107226130A CN 107226130 A CN107226130 A CN 107226130A CN 201710599270 A CN201710599270 A CN 201710599270A CN 107226130 A CN107226130 A CN 107226130A
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- steering
- actuating motor
- servomechanism
- horizontal rack
- control unit
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses electric boosting steering system and its diversion experiments simulation system, including the steering wheel being fixed in steering spindle, two steered wheels being arranged side by side, horizontally slipped on cross-bridges between two deflecting rollers and be connected with horizontal rack, the drive connection corresponding with the steering mechanism of two deflecting rollers of the left and right ends of horizontal rack, including torque sensor, angular sensor, main servomechanism, secondary servomechanism and electronic control unit ECU；Electric power steering experimental simulation system, including electric boosting steering system and steering drag analogue means, the steering drag analogue means includes the 3rd actuating motor, signal processor DSP, 3rd actuating motor is connected with resistance gear by the 3rd decelerator, resistance gear is connected with horizontal rack engagement, displacement transducer and the 3rd actuating motor are connected with the control of signal processor DSP signals, displacement transducer and the formation closed-loop control of the 3rd actuating motor；Control is relatively stable, greatly improves the comfort level of driving.
Description
Technical field
The invention belongs to automobile power-assisted steering system technical field, more particularly to a kind of electric boosting steering system and its turn
To experimental simulation system, it is mainly used in the power steering of heavy vehicle, and the heavy vehicle with electric booster system is entered
Capable diversion experiments simulation system.
Background technology
Electric boosting steering system（Electric Power Steering, abridge EPS）It is that one kind is directly carried by motor
For the power steering system of auxiliary torque, electric boosting steering system mainly by torque sensor, vehicle speed sensor, motor,
Reducing gear and electronic control unit（ECU）Deng composition.Driver is when manipulation steering wheel is turned to, torque sensor detection
To the size of steering and the torque of steering wheel, voltage signal is transported to electronic control unit, electronic control unit is according to torsion
Torque voltage signal, rotation direction and GES that square sensor is detected etc., sends instruction to motor controller, makes electricity
Correspondingly sized and direction the power steering torque of motivation output, so as to produce auxiliary power.When automobile is not turned to, Electronic Control list
Member does not send instruction to motor controller, and motor does not work.Itself and traditional hydraulic power-assist steering system（Hydraulic
Power Steering, abridge HPS）Compare, electric boosting steering system has lot of advantages.Electric boosting steering system only exists
Motor just provides power during steering, thus can reduce the consumption of energy, and the size of power steering can be adjusted by programming, can be with
Ease of steering and control stability during high speed when taking into account low speed, can also provide optimal steering according to different driving cycles
Power-assisted, reduce by road roughness influenceed caused by steering is disturbed, improve the active safety of automobile.
But existing electric boosting steering system can not form complete closed-loop control in assisted diversion, control
Even there is the problem of auxiliary is excessive and have impact on driving sense in the problem of making unstable；On the other hand to electric power steering system
When system such as is improved, debugged, installing at the research and development, generally require actual road surface and drive, R＆D cycle length, cost height, because
This, which designs and develops a kind of steering analogue means for the heavy vehicle progress being directed to electric booster system, has great scientific research
Value and application value.
The content of the invention
Present invention aims at there is provided a kind of electric boosting steering system and its diversion experiments simulation system, solve
State problems of the prior art；To reach that above-mentioned purpose is adopted the technical scheme that：
Electric boosting steering system, including steering wheel, two steered wheels being arranged side by side being fixed in steering spindle, at two
Horizontally slipped on cross-bridges between deflecting roller and be connected with horizontal rack, the left and right ends of horizontal rack and the steering of two deflecting rollers
Mechanism correspondence is connected, it is characterised in that including torque sensor, angular sensor, main servomechanism, secondary booster engine
Structure and electronic control unit ECU；
Torque sensor, is used for direction of rotation and the moment of torsion for monitoring steering wheel in steering spindle；
Angular sensor, is used for the anglec of rotation for monitoring steering wheel in steering spindle；
Main servomechanism, is horizontally slipped by rack and pinion engagement mode with horizontal rack drive connection with controlled level rack；
Secondary servomechanism, is horizontally slipped by linkage mode with horizontal rack drive connection with controlled level rack；
The torque sensor, angular sensor, main servomechanism, secondary servomechanism are believed with electronic control unit ECU
Number control connection.
It is preferred that, the main servomechanism includes displacement transducer and the first actuating motor, and institute's displacement sensors are used for
The movement position of level monitoring rack, the first actuating motor is connected with moving gear, moving gear and water by the first decelerator
The engagement connection of flat tooth bar；Displacement transducer and the first actuating motor are connected with the control of electronic control unit ECU signals, and displacement is passed
Sensor and the formation closed-loop control of the first actuating motor.
It is preferred that, the secondary servomechanism includes the second actuating motor, and the second actuating motor is driven by the second decelerator
Linkage is connected with, linkage is connected with horizontal rack, is provided between the second actuating motor and the second decelerator
Electromagnetic clutch, electromagnetic clutch and the second actuating motor are connected with the control of electronic control unit ECU signals, Electronic Control list
GES and the formation closed-loop control of the second actuating motor that first ECU is obtained.
Electric power steering experimental simulation system, including electric boosting steering system as claimed in claim 3 and steering
Resistance simulation device, the steering drag analogue means includes the 3rd actuating motor, signal processor DSP, and the described 3rd performs
Motor is connected with resistance gear by the 3rd decelerator, and resistance gear be connected with horizontal rack engagement, displacement transducer with
3rd actuating motor is connected with the control of signal processor DSP signals, displacement transducer and the formation closed loop control of the 3rd actuating motor
System.
It is preferred that, the signal processor DSP signals control is connected with industrial computer, and the control of industrial computer signal connects
Six freedom-degree motion simulator is connected to, the six freedom-degree motion simulator is transferred to electronic control unit by GES is simulated
ECU, driver controls steering wheel by six freedom-degree motion simulator and forms closed-loop control to steering drag analogue means.
The advantageous effect of present invention is that：This electric boosting steering system, passes through main servomechanism and secondary booster engine
The mating reaction of structure forms closed-loop control in assisted diversion, and control is relatively stable, greatly improves the comfort level of driving.
This electric power steering experimental simulation system, heavy vehicle laterally fortune is realized by steering drag analogue means
The simulation of the six direction motion states such as dynamic, lengthwise movement, weaving, vertical movement, elevating movement, roll motion, and will
Each motion emulation mode realizes that the steering of steered wheel is simulated by resistance gear and horizontal rack engagement, realizes pair
Electric boosting steering system provides the simulation of each motion state when the research and development such as being improved, debug, installing, shorten weight
In the research and development cycle of the electric booster system of type vehicle, reducing cost, there is provided high efficiency.
Brief description of the drawings
Fig. 1 is electric boosting steering system structural representation；
Fig. 2 is electric power steering experimental simulation system structural representation.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, electric boosting steering system, including be fixed in steering spindle 4 steering wheel 1, be arranged side by side two
Horizontally slipped on individual steered wheel 7, the cross-bridges between two deflecting rollers 7 and be connected with horizontal rack 9, the left and right of horizontal rack 9
Two ends drive connection corresponding with the steering mechanism of two deflecting rollers 7, in addition to torque sensor 2, angular sensor 3, master
Servomechanism 6, secondary servomechanism 5 and electronic control unit ECU；Wherein,
Torque sensor 2, is used for direction of rotation and the moment of torsion for monitoring steering wheel 1 in steering spindle 4；
Angular sensor 3, is used for the anglec of rotation for monitoring steering wheel 1 in steering spindle 4（That is the position of steering wheel 1
Put）；
Main servomechanism 6（Dotted line frame does not have practical structures implication to mark conveniently, similarly hereinafter）, pass through rack and pinion engagement mode
It is connected with horizontal rack 9 and horizontally slips to control the rotation of deflecting roller 7 with controlled level rack 9；
Secondary servomechanism 5, by the mode of linkage 8 and horizontal rack 9 be connected with controlled level rack 9 horizontally slip come
Control the rotation of deflecting roller 7；
The torque sensor 2, angular sensor 3, main servomechanism 6, secondary servomechanism 5 are and electronic control unit
The control connection of ECU signals.
The main servomechanism 6 includes displacement transducer and the first actuating motor, and institute's displacement sensors are used to monitor water
The movement position of flat tooth bar 9（That is the position of deflecting roller 7）, the first actuating motor is connected with moving gear by the first decelerator
10, moving gear 10 is connected with the engagement of horizontal rack 9；Displacement transducer and the first actuating motor are believed with electronic control unit ECU
Number control connection, displacement transducer and the first actuating motor form closed-loop control.
The secondary servomechanism 5 includes the second actuating motor, and the second actuating motor is connected with by the second decelerator
Linkage 8, linkage 8 is connected with horizontal rack 9, and electromagnetism is provided between the second actuating motor and the second decelerator
Clutch, electromagnetic clutch and the second actuating motor are connected with the control of electronic control unit ECU signals, electronic control unit
GES and the formation closed-loop control of the second actuating motor that ECU is obtained.
This electric boosting steering system, in the motion process of heavy vehicle, electronic control unit ECU monitors steering in real time
The direction of rotation of disk 1, moment of torsion, the anglec of rotation（The position of steering wheel 1）And speed, when steering wheel 1 does not rotate or rotated model
Enclose it is smaller within the scope of setting when, main servomechanism 6 and secondary servomechanism 5 do not start；Rotated when detecting steering wheel 1
When, electronic control unit ECU first adjusts speed no more than highest according to the GES of acquisition and the position of deflecting roller 7
Safety value is with anti-rollover；While the steering phase according to needed for the position, direction of rotation and torquemeter of steering wheel 1 calculate deflecting roller 7
Prestige value, then control the first actuating motor export a certain size, the torque of certain orientation as main auxiliary power steering, to control
Deflecting roller 7 processed redirect to desired value position, and the position signalling for the deflecting roller 7 that displacement transducer is monitored is transferred to Electronic Control list
First ECU carries out feedback of the information；Last the second actuating motor of electronic control unit ECU Comprehensive Controls and electromagnetic clutch automatically,
Adaptively export a certain size, the torque of certain orientation auxiliary main auxiliary power steering, so as to complete power steering, when turning
When needing revolution to end, electronic control unit ECU passes through main servomechanism 6 and secondary servomechanism by the acquisition of above-mentioned parameter
5 counteragent completes steering reversal power-assisted, by the mating reaction of above-mentioned main servomechanism 6 and secondary servomechanism 5 in auxiliary
Closed-loop control is formd during steering, control is relatively stable, greatly improves the comfort level of driving.
As shown in Fig. 2 electric power steering experimental simulation system, is increased on above-mentioned electric boosting steering system
Steering drag analogue means 11 and constitute, the steering drag analogue means 11 include the 3rd actuating motor, signal processor DSP
With control circuit, the 3rd actuating motor is connected with resistance gear 12, resistance gear 12 and water by the 3rd decelerator
The engagement connection of flat tooth bar 9, displacement transducer and the 3rd actuating motor connect with signal processor DSP control circuit signal controls
Connect, displacement transducer and the formation closed-loop control of the 3rd actuating motor.
The signal processor DSP signals control is connected with industrial computer, and the control of industrial computer signal is connected with six
Free degree motion simulator, the six freedom-degree motion simulator is transferred to electronic control unit ECU by GES is simulated, and drives
The person of sailing controls steering wheel by six freedom-degree motion simulator and forms closed-loop control to steering drag analogue means.
Six freedom-degree motion simulator is main integrated by visual display system, steering gear, clutch brake, decelerator pedal etc.
What instrument board, seat, hinge, hydraulic cylinder, pedestal were constituted provides visual iamge description for automobile current state, can be with mould
Intend various driving conditions when driver travels on true road surface, while speed letter can be provided for electronic control unit ECU
Number.The six freedom-degree motion simulator can transverse movement of the drive simulating person under true road conditions, lengthwise movement, yaw simultaneously
The motion of the six directions such as motion, vertical movement, elevating movement, roll motion, so that drive simulating person is under true road surface
Impression, is conveyed to industrial computer, industrial computer passes through signal processor after calculating by the parameter of each motion state
DSP and control circuit are controlled to the 3rd actuating motor, export a certain size, the torque of certain orientation simulated as turning to
Resistance.
Heavy vehicle transverse movement, lengthwise movement, weaving, vertical fortune are realized by steering drag analogue means 11
The simulation of the six direction motion states such as dynamic, elevating movement, roll motion, and each motion emulation mode is passed through into resistance gear
12 realize that the steering of steered wheel 7 is simulated with the engagement of horizontal rack 9, realize and electric boosting steering system is changed
The simulation of each motion state is provided when the research and development such as entering, debug, installing, the electric booster system of heavy vehicle is shortened
In the research and development cycle, reducing cost, there is provided high efficiency.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown is only for ease of the description present invention and simplifies description, rather than indicates or infer the device of meaning
Or element must have specific orientation, be specific azimuth configuration and operation, thus it is not intended that in present invention protection
The limitation of appearance.
If the word such as " first ", " second " is used herein come if limiting parts, those skilled in the art should
This knows：" first ", the use of " second " are intended merely to facilitate the description present invention and simplify description, do not state in addition such as,
Above-mentioned word does not have special implication.
Claims (5)
1. electric boosting steering system, including steering wheel, two steered wheels being arranged side by side being fixed in steering spindle, two
Horizontally slipped on cross-bridges between individual deflecting roller and be connected with horizontal rack, the left and right ends of horizontal rack and turn of two deflecting rollers
It is connected to mechanism correspondence, it is characterised in that including torque sensor, angular sensor, main servomechanism, secondary power-assisted
Mechanism and electronic control unit ECU；
Torque sensor, is used for direction of rotation and the moment of torsion for monitoring steering wheel in steering spindle；
Angular sensor, is used for the anglec of rotation for monitoring steering wheel in steering spindle；
Main servomechanism, is horizontally slipped by rack and pinion engagement mode with horizontal rack drive connection with controlled level rack；
Secondary servomechanism, is horizontally slipped by linkage mode with horizontal rack drive connection with controlled level rack；
The torque sensor, angular sensor, main servomechanism, secondary servomechanism are believed with electronic control unit ECU
Number control connection.
2. electric boosting steering system according to claim 1, it is characterised in that the main servomechanism is passed including displacement
Sensor and the first actuating motor, institute's displacement sensors are used for the movement position of level monitoring rack, and the first actuating motor passes through
First decelerator is connected with moving gear, and moving gear is connected with horizontal rack engagement；Displacement transducer and the first actuating motor
It is connected with the control of electronic control unit ECU signals, displacement transducer and the formation closed-loop control of the first actuating motor.
3. electric boosting steering system according to claim 2, it is characterised in that the secondary servomechanism is held including second
Row motor, the second actuating motor is connected with linkage by the second decelerator, and linkage is driven with horizontal rack to be connected
Connect, be provided with electromagnetic clutch between the second actuating motor and the second decelerator, electromagnetic clutch and the second actuating motor with
Electronic control unit ECU signals control connection, the GES that electronic control unit ECU is obtained is closed with the formation of the second actuating motor
Ring is controlled.
4. electric power steering experimental simulation system, it is characterised in that including electric power steering system as claimed in claim 3
System and steering drag analogue means, the steering drag analogue means include the 3rd actuating motor, signal processor DSP, described
3rd actuating motor is connected with resistance gear by the 3rd decelerator, and resistance gear is connected with horizontal rack engagement, displacement
Sensor and the 3rd actuating motor are connected with the control of signal processor DSP signals, displacement transducer and the 3rd actuating motor shape
Into closed-loop control.
5. electric power steering experimental simulation system according to claim 4, it is characterised in that the signal processor
The control of DSP signals is connected with industrial computer, and the control of industrial computer signal is connected with six freedom-degree motion simulator, described six
Free degree motion simulator is transferred to electronic control unit ECU by GES is simulated, and driver passes through six-freedom motion mould
Intend device control steering wheel and closed-loop control is formed to steering drag analogue means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599270.2A CN107226130B (en) | 2017-07-21 | 2017-07-21 | Electric power steering system and steering experiment simulation system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599270.2A CN107226130B (en) | 2017-07-21 | 2017-07-21 | Electric power steering system and steering experiment simulation system thereof |
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| Publication Number | Publication Date |
|---|---|
| CN107226130A true CN107226130A (en) | 2017-10-03 |
| CN107226130B CN107226130B (en) | 2023-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710599270.2A Active CN107226130B (en) | 2017-07-21 | 2017-07-21 | Electric power steering system and steering experiment simulation system thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108389465A (en) * | 2018-03-23 | 2018-08-10 | 李沁林 | A kind of method and apparatus of the steering wheel automatic homing of vehicle driving simulator |
| CN113295440A (en) * | 2021-07-06 | 2021-08-24 | 卢素云 | Experimental device for electronic power-assisted steering system |
| CN113311264A (en) * | 2021-05-22 | 2021-08-27 | 秦皇岛东霖科技有限公司 | Automobile electronic steering gear maintenance test platform and use method thereof |
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| CN106248406A (en) * | 2016-09-06 | 2016-12-21 | 吉林大学 | Commercial car novel electric hydraulic steering system simulator stand |
| CN207045446U (en) * | 2017-07-21 | 2018-02-27 | 河南理工大学 | Electric boosting steering system and its diversion experiments simulation system |
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2017
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| JP2005172528A (en) * | 2003-12-09 | 2005-06-30 | Koyo Seiko Co Ltd | Test system for electric power steering device |
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
| JP2008107246A (en) * | 2006-10-26 | 2008-05-08 | Jtekt Corp | Simulation system for equipment configuration unit, and method of manufacturing equipment configuration unit using the same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108389465A (en) * | 2018-03-23 | 2018-08-10 | 李沁林 | A kind of method and apparatus of the steering wheel automatic homing of vehicle driving simulator |
| CN108389465B (en) * | 2018-03-23 | 2019-03-05 | 李沁林 | A kind of method and apparatus of the steering wheel automatic homing of vehicle driving simulator |
| CN113311264A (en) * | 2021-05-22 | 2021-08-27 | 秦皇岛东霖科技有限公司 | Automobile electronic steering gear maintenance test platform and use method thereof |
| CN113295440A (en) * | 2021-07-06 | 2021-08-24 | 卢素云 | Experimental device for electronic power-assisted steering system |
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| CN107226130B (en) | 2023-05-05 |
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