CN107226130B - Electric power steering system and steering experiment simulation system thereof - Google Patents
Electric power steering system and steering experiment simulation system thereof Download PDFInfo
- Publication number
- CN107226130B CN107226130B CN201710599270.2A CN201710599270A CN107226130B CN 107226130 B CN107226130 B CN 107226130B CN 201710599270 A CN201710599270 A CN 201710599270A CN 107226130 B CN107226130 B CN 107226130B
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- steering
- horizontal rack
- electric power
- motor
- displacement sensor
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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
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- 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
Abstract
The invention discloses an electric power steering system and a steering experiment simulation system thereof, wherein the electric power steering system comprises a steering wheel fixed on a steering shaft, two steering wheels arranged side by side, a horizontal rack is connected on a transverse bridge between the two steering wheels in a left-right sliding manner, the left end and the right end of the horizontal rack are correspondingly in transmission connection with steering mechanisms of the two steering wheels, and the electric power steering system comprises a torque sensor, a rotation angle sensor, a main power assisting mechanism, an auxiliary power assisting mechanism and an electronic control unit ECU; the electric power steering experiment simulation system comprises an electric power steering system and a steering resistance simulation device, wherein the steering resistance simulation device comprises a third execution motor and a signal processor DSP, the third execution motor is in transmission connection with a resistance gear through a third speed reducer, the resistance gear is in meshed connection with a horizontal rack, a displacement sensor and the third execution motor are in signal control connection with the signal processor DSP, and the displacement sensor and the third execution motor form closed loop control; the control is stable, and the driving comfort is greatly improved.
Description
Technical Field
The invention belongs to the technical field of automobile steering power-assisted systems, and particularly relates to an electric power-assisted steering system and a steering experiment simulation system thereof, which are mainly applied to steering power assistance of a heavy vehicle and a steering experiment simulation system for the heavy vehicle with the electric power-assisted system.
Background
An electric power steering system (Electric Power Steering, abbreviated as EPS) is a power steering system that directly relies on a motor to provide assist torque, and is mainly composed of a torque sensor, a vehicle speed sensor, an electric motor, a reduction mechanism, an Electronic Control Unit (ECU), and the like. When the driver steers the steering wheel, the torque sensor detects the steering of the steering wheel and the magnitude of the torque, and the voltage signal is transmitted to the electronic control unit, and the electronic control unit sends an instruction to the motor controller according to the torque voltage signal, the rotating direction, the vehicle speed signal and the like detected by the torque sensor, so that the motor outputs the steering power-assisted torque with corresponding magnitude and direction, and auxiliary power is generated. When the automobile does not turn, the electronic control unit does not send an instruction to the motor controller, and the motor does not work. It has many advantages over conventional hydraulic power steering systems (Hydraulic Power Steering, abbreviated HPS). The electric power-assisted steering system only provides power for the motor during steering, so that energy consumption can be reduced, the magnitude of the steering power can be adjusted by programming, both steering portability at low speed and steering stability at high speed can be considered, and the optimal steering power can be provided according to different driving conditions, so that the interference to the steering system caused by the influence of road surface unevenness is reduced, and the active safety of an automobile is improved.
However, the existing electric power steering system cannot form complete closed loop control during auxiliary steering, so that the problem of unstable control and even the problem of excessive auxiliary are caused, and the driving feel is influenced; on the other hand, when the electric power steering system is researched and developed, such as improvement, debugging, installation and the like, the actual road surface driving is needed, the research and development period is long, and the cost is high, so that the steering simulation device for the heavy vehicle with the electric power steering system is designed and developed, and has great scientific research value and application value.
Disclosure of Invention
The invention aims to provide an electric power steering system and a steering experiment simulation system thereof, which solve the problems in the prior art; the technical scheme adopted for achieving the purpose is as follows:
the electric power-assisted steering system comprises a steering wheel fixed on a steering shaft and two steering wheels arranged side by side, wherein a horizontal rack is connected on a transverse bridge between the two steering wheels in a left-right sliding manner, and the left end and the right end of the horizontal rack are correspondingly in transmission connection with steering mechanisms of the two steering wheels;
a torque sensor mounted on the steering shaft for monitoring a rotational direction and torque of the steering wheel;
a rotation angle sensor mounted on the steering shaft for monitoring a rotation angle of the steering wheel;
the main power assisting mechanism is in transmission connection with the horizontal rack through a gear-rack meshing mode so as to control the horizontal rack to slide left and right;
the auxiliary power assisting mechanism is in transmission connection with the horizontal rack in a connecting rod mechanism mode to control the horizontal rack to slide left and right;
and the torque sensor, the rotation angle sensor, the main power assisting mechanism and the auxiliary power assisting mechanism are all in signal control connection with an Electronic Control Unit (ECU).
Preferably, the main power assisting mechanism comprises a displacement sensor and a first executing motor, wherein the displacement sensor is used for monitoring the movement position of the horizontal rack, the first executing motor is in transmission connection with a movable gear through a first speed reducer, and the movable gear is in meshed connection with the horizontal rack; the displacement sensor and the first execution motor are in signal control connection with the electronic control unit ECU, and the displacement sensor and the first execution motor form closed-loop control.
Preferably, the auxiliary power assisting mechanism comprises a second executing motor, the second executing motor is connected with a connecting rod mechanism through a second speed reducer in a transmission way, the connecting rod mechanism is connected with a horizontal rack in a transmission way, an electromagnetic clutch is arranged between the second executing motor and the second speed reducer, the electromagnetic clutch and the second executing motor are connected with an Electronic Control Unit (ECU) in a signal control way, and a vehicle speed signal acquired by the Electronic Control Unit (ECU) and the second executing motor form closed loop control.
The electric power steering experiment simulation system comprises the electric power steering system and a steering resistance simulation device according to claim 3, wherein the steering resistance simulation device comprises a third execution motor and a signal processor DSP, the third execution motor is connected with a resistance gear through a third speed reducer in a transmission manner, the resistance gear is meshed with a horizontal rack, the displacement sensor and the third execution motor are connected with the signal processor DSP in a signal control manner, and the displacement sensor and the third execution motor form closed-loop control.
Preferably, the signal processor DSP is connected with an industrial computer in signal control, the industrial computer is connected with a six-degree-of-freedom motion simulator in signal control, the six-degree-of-freedom motion simulator transmits a simulated vehicle speed signal to the electronic control unit ECU, and a driver controls the steering wheel through the six-degree-of-freedom motion simulator to form closed loop control on the steering resistance simulation device.
The invention has the beneficial effects that: the electric power steering system forms closed-loop control during auxiliary steering through the matching action of the main power assisting mechanism and the auxiliary power assisting mechanism, is stable in control and greatly improves the driving comfort level.
The electric power steering experiment simulation system realizes the simulation of six motion states of the heavy vehicle, such as transverse motion, longitudinal motion, yaw motion, vertical motion, pitching motion, rolling motion and the like, and realizes the steering simulation of steering wheels through the meshing action of the resistance gear and the horizontal rack, thereby realizing the simulation of each motion state when the electric power steering system is researched and developed, such as improvement, debugging, installation and the like, shortening the research and development period of the electric power system of the heavy vehicle, reducing the cost and providing high efficiency.
Drawings
FIG. 1 is a schematic diagram of an electric power steering system;
fig. 2 is a schematic diagram of an electric power steering experiment simulation system.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the electric power steering system comprises a steering wheel 1 fixed on a steering shaft 4, two steering wheels 7 arranged side by side, a horizontal rack 9 connected on a transverse bridge between the two steering wheels 7 in a left-right sliding manner, a torque sensor 2, a rotation angle sensor 3, a main power assisting mechanism 6, an auxiliary power assisting mechanism 5 and an electronic control unit ECU, wherein the left end and the right end of the horizontal rack 9 are correspondingly in transmission connection with steering mechanisms of the two steering wheels 7; wherein, the liquid crystal display device comprises a liquid crystal display device,
a torque sensor 2 mounted on a steering shaft 4 for monitoring a rotational direction and torque of the steering wheel 1;
a rotation angle sensor 3 mounted on the steering shaft 4 for monitoring the rotation angle of the steering wheel 1 (i.e., the position of the steering wheel 1);
the main power assisting mechanism 6 (the dotted line frame has no practical structural meaning for the sake of convenience for marking, and the dotted line frame is the same below) is in transmission connection with the horizontal rack 9 through a gear-rack meshing mode so as to control the horizontal rack 9 to slide left and right to control the rotation of the steering wheel 7;
the auxiliary power assisting mechanism 5 is in transmission connection with the horizontal rack 9 through a connecting rod mechanism 8 mode to control the horizontal rack 9 to slide left and right so as to control the rotation of the steering wheel 7;
the torque sensor 2, the rotation angle sensor 3, the main power assisting mechanism 6 and the auxiliary power assisting mechanism 5 are all in signal control connection with an electronic control unit ECU.
The main power assisting mechanism 6 comprises a displacement sensor and a first executing motor, the displacement sensor is used for monitoring the movement position of the horizontal rack 9 (namely the position of the steering wheel 7), the first executing motor is in transmission connection with a movable gear 10 through a first speed reducer, and the movable gear 10 is in meshed connection with the horizontal rack 9; the displacement sensor and the first execution motor are in signal control connection with the electronic control unit ECU, and the displacement sensor and the first execution motor form closed-loop control.
The auxiliary power assisting mechanism 5 comprises a second executing motor, the second executing motor is connected with a connecting rod mechanism 8 through a second speed reducer in a transmission mode, the connecting rod mechanism 8 is connected with a horizontal rack 9 in a transmission mode, an electromagnetic clutch is arranged between the second executing motor and the second speed reducer, the electromagnetic clutch and the second executing motor are connected with an Electronic Control Unit (ECU) in a signal control mode, and a vehicle speed signal acquired by the Electronic Control Unit (ECU) and the second executing motor form closed-loop control.
In the electric power steering system, during the movement process of a heavy vehicle, an Electronic Control Unit (ECU) monitors the rotation direction, torque, rotation angle (position of the steering wheel 1) and vehicle speed of the steering wheel 1 in real time, and when the steering wheel 1 does not rotate or the rotation range is smaller than the set range, a main power assisting mechanism 6 and a secondary power assisting mechanism 5 are not started; when the rotation of the steering wheel 1 is detected, firstly, the electronic control unit ECU adjusts the vehicle speed not to exceed the highest safety value according to the obtained vehicle speed signal and the position of the steering wheel 7 so as to prevent rollover; meanwhile, a steering expected value required by the steering wheel 7 is calculated according to the position, the rotation direction and the torque of the steering wheel 1, then the first execution motor is controlled to output a certain-sized and certain-direction torque as main auxiliary steering assistance so as to control the steering wheel 7 to steer to the expected value position, and a position signal of the steering wheel 7 monitored by the displacement sensor is transmitted to the electronic control unit ECU for information feedback; finally, the electronic control unit ECU comprehensively controls the second execution motor and the electromagnetic clutch to automatically and adaptively output a certain-sized and certain-direction torque to assist the main auxiliary steering assistance, so that steering assistance is completed, when steering is finished and rotation is needed, the electronic control unit ECU completes steering alignment assistance through the reverse actions of the main assistance mechanism 6 and the auxiliary assistance mechanism 5 through the acquisition of the parameters, closed-loop control is formed during auxiliary steering through the cooperation of the main assistance mechanism 6 and the auxiliary assistance mechanism 5, the control is stable, and the driving comfort is greatly improved.
As shown in fig. 2, the electric power steering experiment simulation system is formed by adding a steering resistance simulation device 11 on the electric power steering system, the steering resistance simulation device 11 comprises a third execution motor, a signal processor DSP and a control circuit, the third execution motor is connected with a resistance gear 12 through a third speed reducer in a transmission way, the resistance gear 12 is meshed with the horizontal rack 9, the displacement sensor and the third execution motor are both connected with the signal processor DSP to control signals, and the displacement sensor and the third execution motor form closed loop control.
The signal processor DSP signal control is connected with an industrial computer, the industrial computer signal control is connected with a six-degree-of-freedom motion simulator, the six-degree-of-freedom motion simulator transmits a simulated vehicle speed signal to the electronic control unit ECU, and a driver controls the steering wheel through the six-degree-of-freedom motion simulator to form closed loop control on the steering resistance simulation device.
The six-degree-of-freedom motion simulator mainly comprises an integrated instrument panel such as a visual display system, a steering gear, a clutch brake, a speed reduction pedal and the like, a seat, a hinge point, a hydraulic cylinder and a base, can provide visual image description for the current state of an automobile, can simulate various driving states of a driver when the driver runs on a real road surface, and can provide a vehicle speed signal for an electronic control unit ECU. The six-degree-of-freedom motion simulator can simulate the motions of a driver in six directions such as transverse motion, longitudinal motion, yaw motion, vertical motion, pitching motion and rolling motion under the real road condition, so that the feeling of the driver under the real road surface is simulated, parameters of each motion state are transmitted to an industrial computer, the industrial computer controls a third execution motor through a signal processor DSP and a control circuit after calculation, and a torque with a certain size and a certain direction is output as steering simulation resistance.
The simulation of the motion states in six directions such as transverse motion, longitudinal motion, yaw motion, vertical motion, pitching motion and rolling motion of the heavy vehicle is realized through the steering resistance simulation device 11, the steering simulation of the steering wheel 7 is realized through the meshing effect of the resistance gear 12 and the horizontal rack 9, the simulation of each motion state is provided when the electric power steering system is researched and developed for improvement, debugging, installation and the like, the research and development period of the electric power steering system of the heavy vehicle is shortened, the cost is reduced, and the high efficiency is provided.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention.
If the terms "first," "second," etc. are used herein to define a part, those skilled in the art will recognize that: the use of "first" and "second" is for convenience only as well as for simplicity of description, and nothing more than a particular meaning of the terms is intended to be used unless otherwise stated.
Claims (3)
1. The electric power-assisted steering system comprises a steering wheel fixed on a steering shaft and two steering wheels arranged side by side, wherein a horizontal rack is connected on a transverse bridge between the two steering wheels in a left-right sliding manner, and the left end and the right end of the horizontal rack are correspondingly in transmission connection with steering mechanisms of the two steering wheels;
a torque sensor mounted on the steering shaft for monitoring a rotational direction and torque of the steering wheel;
a rotation angle sensor mounted on the steering shaft for monitoring a rotation angle of the steering wheel;
the main power assisting mechanism is in transmission connection with the horizontal rack through a gear-rack meshing mode so as to control the horizontal rack to slide left and right;
the auxiliary power assisting mechanism is in transmission connection with the horizontal rack in a connecting rod mechanism mode to control the horizontal rack to slide left and right;
the torque sensor, the rotation angle sensor, the main power assisting mechanism and the auxiliary power assisting mechanism are all in signal control connection with an Electronic Control Unit (ECU);
the main power assisting mechanism comprises a displacement sensor and a first executing motor, the displacement sensor is used for monitoring the movement position of the horizontal rack, the first executing motor is in transmission connection with a movable gear through a first speed reducer, and the movable gear is in meshed connection with the horizontal rack; the displacement sensor and the first execution motor are in signal control connection with the electronic control unit ECU, and the displacement sensor and the first execution motor form closed-loop control;
the auxiliary power assisting mechanism comprises a second executing motor, the second executing motor is connected with a connecting rod mechanism through a second speed reducer in a transmission mode, the connecting rod mechanism is connected with a horizontal rack in a transmission mode, an electromagnetic clutch is arranged between the second executing motor and the second speed reducer, the electromagnetic clutch and the second executing motor are connected with an Electronic Control Unit (ECU) in a signal control mode, and a vehicle speed signal acquired by the Electronic Control Unit (ECU) and the second executing motor form closed-loop control.
2. The electric power steering experiment simulation system is characterized by comprising the electric power steering system and a steering resistance simulation device according to claim 1, wherein the steering resistance simulation device comprises a third execution motor and a signal processor DSP, the third execution motor is connected with a resistance gear through a third speed reducer in a transmission manner, the resistance gear is meshed with a horizontal rack, the displacement sensor and the third execution motor are connected with the signal processor DSP in a signal control manner, and the displacement sensor and the third execution motor form closed-loop control.
3. The electric power steering experiment simulation system according to claim 2, wherein the signal processor DSP signal control is connected with an industrial computer, the industrial computer signal control is connected with a six-degree-of-freedom motion simulator, the six-degree-of-freedom motion simulator transmits a simulated vehicle speed signal to the electronic control unit ECU, and a driver controls the steering wheel through the six-degree-of-freedom motion simulator to form closed loop control over the steering resistance simulation device.
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| CN201710599270.2A CN107226130B (en) | 2017-07-21 | 2017-07-21 | Electric power steering system and steering experiment simulation system thereof |
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| CN201710599270.2A CN107226130B (en) | 2017-07-21 | 2017-07-21 | Electric power steering system and steering experiment simulation system thereof |
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| CN107226130B true CN107226130B (en) | 2023-05-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4264725B2 (en) * | 2003-12-09 | 2009-05-20 | 株式会社ジェイテクト | Test system for electric power steering system |
| JP4793575B2 (en) * | 2006-10-26 | 2011-10-12 | 株式会社ジェイテクト | Device configuration unit simulation system and method of manufacturing device configuration unit using the same |
| CN201594043U (en) * | 2009-12-25 | 2010-09-29 | 西安理工大学 | Performance testing platform of electric power steering system |
| CN103754256B (en) * | 2014-01-24 | 2016-01-06 | 中国石油大学(华东) | A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern |
| CN106248406B (en) * | 2016-09-06 | 2019-03-08 | 吉林大学 | The novel electric hydraulic steering system simulator stand of commercial vehicle |
| 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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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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