CN107600175A - A kind of car active front steering system and its rotating direction control method based on accumulator - Google Patents
A kind of car active front steering system and its rotating direction control method based on accumulator Download PDFInfo
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- CN107600175A CN107600175A CN201710927905.7A CN201710927905A CN107600175A CN 107600175 A CN107600175 A CN 107600175A CN 201710927905 A CN201710927905 A CN 201710927905A CN 107600175 A CN107600175 A CN 107600175A
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Abstract
The invention discloses a kind of car active front steering system and its rotating direction control method based on accumulator, including：Mechanical module, hydraulic module and electronic control module；Hydraulic module gives two hydraulic circuit fuel feeding using a motor and a hydraulic pump, first hydraulic circuit realizes that steering moment is adjusted using DFF Direct Fuel Feed mode, second hydraulic circuit realizes that corner is adjusted by the way of accumulator fuel feeding, and two hydraulic circuit cooperations complete active steering function.The system of the present invention is used as the second hydraulic circuit auxiliary power source by accumulator, alleviates mass of system, while avoids using energy dissipation caused by multiple hydraulic pumps.
Description
Technical field
The invention belongs to automobile power steering system control technology field, refers specifically to for a kind of car master based on accumulator
Dynamic steering and its rotating direction control method.
Background technology
As requirement of the automobile to safety, energy-conservation increasingly improves, automobile steering system is also in constantly change.Traditional
Mechanical steering system and hydraulic booster system can not meet today's society demand, Electro-Hydraulic Power Steering System, electronic
Servo steering system, active front steering system and wire-controlled steering system gradually develop and are applied.Wherein active front steering system and
Wire-controlled steering system, it can freely change angular gear ratio so as to overcome the contradiction of steering " light " and " spirit ", possess optimal behaviour
Vertical sense and security performance, it is following developing direction.
Steering-by-wire eliminates steering mechanical connection, and not only saving space also has good steering characteristic, but
Due to ebctronic reliability problem, current regulation is limited to without being applied.The external research on active front steering system rises
Step is more early, and Japanese Toyota Company VGRS systems control wheel steering angle, German Benz Co. by the actuator in turning machine assembly
Variable ratio rack is used on E level cars, German Bayerische Motorne Werke Aktiengeellschaft passes through two groups of input shafts of planetary gears and electric-control system knot
Close and change steering gearratio.The defects of Purely mechanical variable ratio is that adjustable extent is small, changes underaction；And automatically controlled machine
Tool formula variable ratio output torque is smaller, is not suitable for applying in heavy goods vehicles.
Chinese invention patent application number is CN201610989595.7, a kind of entitled " mixed type front-wheel active steering system
The mixed drive unit that system " proposes can carry out torque and the control of corner, but the structure uses motor power-assisted mode, power compared with
It is small, it can not be used on car at present.
Therefore, design structure is simple, practical function, the car active front steering system of energy-saving and emission-reduction, improves car and actively pacifies
Full performance, have a very big significance and be worth.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, it is an object of the invention to provide a kind of car based on accumulator actively
Steering and its rotating direction control method, to overcome technological deficiency existing for steering control system in the prior art.The present invention is logical
Accumulator is crossed as the second hydraulic circuit auxiliary power source, alleviates mass of system, while avoid and made using multiple hydraulic pumps
Into energy dissipation.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of car active front steering system based on accumulator of the present invention, including：Mechanical module, hydraulic module and electricity
Control module；
Steering wheel that the mechanical module includes being sequentially connected, steering spindle, ball-and-nut steering gear, pitman arm, turn to it is straight
Pull bar, steering trapezium and wheel；
The ball-and-nut steering gear includes ball-and-nut steering gear housing, steering nut, steering screw, tooth fan；Circulating ball turns
Oil inlet and oil-out are respectively equipped with before and after to device housing, steering nut is assemblied in ball-and-nut steering gear housing and axially transported
Dynamic, steering nut forms hydraulic cylinder-piston structure as piston with ball-and-nut steering gear housing；The connection of steering screw front end turns
To axle, steering screw rear end connection steering nut, is steering nut relative cycle the convert rotational motion that steering spindle transmission comes
The axial movement of ball steering gear housing；Tooth is fanned one end and engaged with steering nut, the other end as ball-and-nut steering gear output end with
Pitman arm is connected；
The steering drag link includes steering drag link piston, steering drag link hydraulic cylinder, steering drag link piston rod, drawing
Bar；The shell of steering drag link hydraulic cylinder is connected by pitman arm with ball-and-nut steering gear output end, offered on shell into
Hydraulic fluid port and oil-out；Steering drag link piston is assemblied in above-mentioned steering drag link hydraulic cylinder, and one end, which is fixedly mounted, turns to vertical pulling
Bar piston rod；Pull bar front end connects above-mentioned steering drag link piston rod, rear end connection steering trapezium and wheel；
The hydraulic module includes oil storage tank, oil filter, brshless DC motor, hydraulic pump, the first check valve, the first hydraulic pressure
Loop and the second hydraulic circuit；
First hydraulic circuit includes the first magnetic valve, rotary valve, the first in-line, the first return line；
First electromagnetic valve entrance is connected with first one-way valved outlet, and outlet is connected with rotary valve entrance；
The rotary valve is arranged in the steering spindle of the mechanical steering module, and rotary valve spool both ends are respectively with steering spindle and following
The steering screw connection of global steering gear, is allocated, and lead to when spool position changes to the hydraulic oil of the first magnetic valve input
The first in-line and the first return line is crossed with the oil inlet and oil-out of the ball-and-nut steering gear to be connected；
Second hydraulic circuit includes the second check valve, second solenoid valve, accumulator, electro-hydraulic proportion reversing valve, second
In-line, the second return line, overflow valve；
The second solenoid valve entrance connects first check valve, in parallel with the first magnetic valve；It, which is exported, passes through second
The oil inlet of check valve and accumulator connects；
The oil-out of the accumulator exports hydraulic oil to electro-hydraulic proportion reversing valve, oil-out installation pressure sensor；
The electro-hydraulic proportion reversing valve passes through the second in-line and turn of the second return line and the steering drag link
Communicated to the oil inlet and oil-out of Drag link hydraulic cylinder；
The oil inlet of the overflow valve is in parallel with second solenoid valve, oil return opening connection oil storage tank；
Low pressure oil in oil storage tank is converted into height by hydraulic pump under brshless DC motor driving after oil filter filters
Force feed, is exported to the first hydraulic circuit and the second hydraulic circuit respectively through the first check valve；
The electronic control module include master controller, rotary angle transmitter, torque sensor, pressure sensor, displacement transducer,
Wheel speed sensors；
The master controller includes ECU, preferable front wheel angle module, preferable power torque module, pressure control module, position
Move control module；
The rotary angle transmitter is installed on the steering wheel, for providing the driver side of input to preferable front wheel angle module
To disk angular signal b；
The torque sensor is arranged in steering spindle, defeated for providing driver to preferable power torque module and ECU
The dtc signal a entered；
The pressure sensor is arranged on accumulator outlet port in the second hydraulic circuit, for being carried to pressure control module
For accumulator outlet oil liquid pressure signal e；
Institute's displacement sensors are arranged on pull bar, for providing pull bar displacement signal d to Bit andits control module；
The wheel speed sensors are arranged on wheel, for being carried to preferable power torque module and preferable front wheel angle module
For wheel speed signal c.
Preferably, the first described magnetic valve uses the normally opened form of bi-bit bi-pass.
Preferably, described second solenoid valve uses the normally closed form of bi-bit bi-pass.
Preferably, described electro-hydraulic proportion reversing valve uses 3-position 4-way form.
Preferably, the control method of the second described hydraulic circuit change steering gearratio, including step are as follows：
11) pressure process：Default accumulator minimum operating pressure P0, full of pressure P1, when accumulator outlet oil pressure is less than in advance
If minimum operating pressure P0When, pressure signal e passes to ECU, and ECU controls the first electromagnetic valve work position to be moved to closing, controls
Second solenoid valve operating position processed is moved to unlatching；Pressure control module uses PID control, is controlled and believed according to brshless DC motor
Number f and pressure signal e, the second hydraulic circuit of control enter pressurized operation pattern, and brshless DC motor drives hydraulic pump works, liquid
Press pump output flow is converted to second solenoid valve output flow by second solenoid valve, and accumulator is pressurizeed；
12) pressure maintaining period：Pressure P is full of when accumulator outlet oil pressure reaches default1When, ECU receives pressure signal e, control
Make the first electromagnetic valve work position and be moved to unlatching, second solenoid valve operating position is moved to closing, and energy storage pressure is maintained at
P0To P1Between, pressure control module controls the second hydraulic circuit to enter pressurize mode of operation；
13) course of work：When car turns to, preferable front wheel angle module is according to wheel speed signal c and the side of driver's input
To disk angular signal b, calculate preferable front wheel angle size and be converted into corresponding steering drag link ideal output displacement, displacement
Control module receives electro-hydraulic proportion reversing valve control signal i and the displacement signal d of displacement transducer feedback, and control electric-hydraulic proportion is changed
Corresponding operating position is moved to valve, accumulator output flow flows into electro-hydraulic proportion reversing valve, electro-hydraulic proportion reversing valve output stream
Amount flows into steering drag link hydraulic cylinder, promotes steering drag link piston to be moved with respect to steering drag link hydraulic cylinder, and drive
Pull bar moves, and changes steering drag link output displacement and corresponding front wheel angle；
Assuming that steering drag link ideal output displacement is x0, the steering drag link output displacement that displacement transducer detects is
x1, according to electro-hydraulic proportion reversing valve, continuously change uninterrupted exports Bit andits control module so as to change steering drag link in proportion
The characteristic of displacement, using sliding-mode control, according to output displacement x1With preferable output displacement x0Difference DELTA x, calculate corresponding sliding
Mould control parameter.
Preferably, it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, then
Ideal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle
Module setup parameter, scope 0.12-0.41；
According to ideal steering ratio i0, the preferable front wheel angle characteristic under different speeds is obtained, is obtained according to rotary angle transmitter
Angular signal, preferable front wheel angle module calculates preferable front wheel angle, further according to steering drag link and steering trapezium and car
The movement relation of wheel, calculate preferable steering drag link output displacement.
Preferably, described sliding-mode control is specific as follows：
131) switching function for defining sliding mode controller is：S=c (x1-x0), in formula, c is a constant；
132) by switching function, obtain：
133) exponentially approaching rule is chosenε ＞ 0, k ＞ 0, whereinIt is exponential approach item, its solution is
S=s (0) e-kt, constant ε is system motion point convergence diverter surface s=0 speed；
134) make：Wherein V is wheel speed, and δ is steering wheel angle；
135) summary obtains：
A kind of rotating direction control method of car active front steering system based on accumulator of the present invention, it is based on above-mentioned system
System, including step are as follows：
21) driving that the wheel speed signal and rotary angle transmitter that preferable front wheel angle module reception wheel speed sensors are sent are sent
Member's input direction disk angular signal, according to preferable front wheel angle characteristic, calculate preferable front wheel angle size and be converted into correspondingly
Steering drag link ideal output displacement, export preferable front wheel angle signal to ECU；Preferable power torque module receives wheel speed and passed
Driver's input torque signal that the wheel speed signal and torque sensor that sensor is sent are sent, according to preferable power torque characteristic,
Preferable power torque size is calculated, preferable power torque signal is exported to ECU；ECU is according to preferable front wheel angle signal and reason
Think power torque signal, calculate ideal steering ratio size and the first hydraulic circuit and the second hydraulic circuit working strategies；
22) torque and the difference of preferable power torque that the driver that ECU is transmitted according to torque sensor inputs, the is determined
One hydraulic circuit working strategies, the size of power torque is provided required for obtaining, and calculate corresponding hydraulic fluid flow rate, control nothing
Brushless motor enters the first hydraulic circuit mode of operation, and action edge input is entered to ball-and-nut steering gear；Meanwhile ECU according to turn
The steering drag link feedback signal exported to Drag link and preferable front wheel angle signal, determine the second hydraulic circuit working strategies,
The uninterrupted required for the second hydraulic circuit is calculated, control electro-hydraulic proportion reversing valve is moved to correspondence position；
The hydraulic oil of accumulator output is inputted to steering drag link hydraulic cylinder by electro-hydraulic proportion reversing valve so that is turned to straight
Pull bar piston rod drives pull bar and steering trapezium and car with respect to steering drag link hydraulic cylinder, steering drag link piston rod
Wheel so that front wheel angle size changes；
23) torque of driver's input and corner, successively by steering wheel, steering spindle, ball-and-nut steering gear, steering vertical pulling
Bar, steering drag link output displacement is converted to, ECU makes first by coordinating control to two hydraulic circuits in this course
Hydraulic circuit carries out power-assisted to ball-and-nut steering gear, and the second hydraulic circuit carries out Bit andits control to steering drag link, completes actively
Turn to.
Preferably, it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, then
Ideal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle
Module setup parameter, scope 0.12-0.41；
According to ideal steering ratio i0, the preferable front wheel angle characteristic under different speeds is obtained, is obtained according to rotary angle transmitter
Angular signal, preferable front wheel angle module calculates preferable front wheel angle, further according to steering drag link and steering trapezium and car
The movement relation of wheel, calculate preferable steering drag link output displacement；
Preferable assist characteristic is：
In formula：TmFor desired torque, TdFor driver's input torque, T0Torque during to start to provide power-assisted, TmaxFor maximum
Power-assisted input torque, TfFor torque capacity, k is the assist characteristic slope of curve that preferable power torque module calculates.
Beneficial effects of the present invention：
Present system and control method, active steering function can be completed by two hydraulic circuit cooperations, make to drive
The person of sailing possesses good driving road feel and ease of steering simultaneously, strengthens stability and security when motor bus is run at high speed,
Reduction accident occurs.Two hydraulic circuits share a motor and hydraulic pump, reduce the energy loss caused by less efficient,
Alleviate mass of system and space-consuming simultaneously.
Brief description of the drawings
Fig. 1 is active front steering system structured flowchart of the present invention；
Fig. 2 is the theory diagram of active front steering system structure of the present invention；
Fig. 3 is the rotating direction control method theory diagram of present system；
In figure：1- steering wheels, 2- rotary angle transmitters, 3- torque sensors, 4- steering spindles, 5- rotary valves, the oil inlet pipes of 6- first
Road, the return lines of 7- first, 8- steering screws, 9- steering nuts, 10- ball-and-nut steering gear housings, 11- teeth fan, 12- are turned to and shaken
Arm, 13- steering drag link pistons, 14- steering drag link hydraulic cylinders, 15 steering drag link piston rods, 16- displacement transducers, 17-
Second in-line, 18 pull bars, 19 second return lines, 20- steering trapeziums, 21- wheels, 22- wheel speed sensors, 23- are electro-hydraulic
Proportional reversing valve, 24- overflow valves, 25- second solenoid valves, 26 pressure sensors, 27- accumulators, the check valves of 28- second, 29- master
Controller, 30- oil storage tanks, 31- hydraulic pumps, 32- brshless DC motors, the check valves of 33- first, the magnetic valves of 34- first, 35- filters
Oily device, 36- pressure control modules, 37- Bit andits control modules, 38- ideal front wheel angle modules, 39- ideal power torque modules,
40- ball-and-nut steering gears, 41- steering drag links, the hydraulic circuits of 42- first, the hydraulic circuits of 43- second, 44-ECU, a- torques letter
Number, b- steering wheel angle signals, c- wheel speed signals, d- displacement signals, e- pressure signals, f- brushless dc machine control signals,
The solenoid valve control signals of g- first, h- second solenoid valve control signals, i- electro-hydraulic proportion reversing valve control signals.
Embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in reference picture 1, Fig. 2, a kind of car active front steering system based on accumulator of the invention, including：Mechanical mould
Block, hydraulic module and electronic control module；
The mechanical module include be sequentially connected steering wheel 1, steering spindle 4, ball-and-nut steering gear 40, pitman arm 12,
Steering drag link 41, steering trapezium 20 and wheel 21；
The ball-and-nut steering gear 40 includes ball-and-nut steering gear housing 10, steering nut 9, steering screw 8, tooth fan 11；
Oil inlet and oil-out are respectively equipped with before and after ball-and-nut steering gear housing 10, steering nut 9 is assemblied in ball-and-nut steering gear housing
In 10 and it is axially moved, steering nut 9 is used as piston, and hydraulic cylinder-piston structure is formed with ball-and-nut steering gear housing 10；Turn to
The front end of screw rod 8 connects steering spindle 4, the rear end of steering screw 8 connection steering nut 9, steering spindle 4 is transmitted the convert rotational motion come
For the axial movement of the relative cycle ball steering gear housing 10 of steering nut 9；Tooth is fanned 11 one end and engaged with steering nut 9, the other end
It is connected as ball-and-nut steering gear output end with pitman arm 12；
The steering drag link 41 includes steering drag link piston 13, steering drag link hydraulic cylinder 14, steering drag link and lived
Stopper rod 15, pull bar 18；The shell of steering drag link hydraulic cylinder 14 is connected by pitman arm 12 with ball-and-nut steering gear output end,
Oil inlet and oil-out are offered on shell；Steering drag link piston 13 is assemblied in above-mentioned steering drag link hydraulic cylinder 14, and one
Steering drag link piston rod 15 is fixedly mounted in end；The front end of pull bar 18 connects above-mentioned steering drag link piston rod 15, and rear end connection turns
To trapezoidal 20 and wheel 21；
The hydraulic module includes oil storage tank 30, oil filter 35, brshless DC motor 32, hydraulic pump 31, the first check valve
33rd, the first hydraulic circuit 42 and the second hydraulic circuit 43；
First hydraulic circuit 42 includes the first magnetic valve 34, rotary valve 5, the first in-line 6, the first return line 7；
First magnetic valve 34 uses the normally opened form of bi-bit bi-pass, and its entrance exports phase with first check valve 33
Even, outlet is connected with the entrance of rotary valve 5；
The rotary valve 5 be arranged on the mechanical steering module steering spindle 4 on, the valve element both ends of rotary valve 5 respectively with steering spindle 4
Connect with the steering screw 8 of ball-and-nut steering gear, the hydraulic oil of the first magnetic valve 34 input is divided when spool position changes
Match somebody with somebody, and be connected by the first in-line 6 and the first return line 7 with the oil inlet and oil-out of the ball-and-nut steering gear；
Second hydraulic circuit 43 includes the second check valve 28, second solenoid valve 25, accumulator 27, electric-hydraulic proportion commutation
Valve 23, the second in-line 17, the second return line 19, overflow valve 24；
The second solenoid valve 25 uses the normally closed form of bi-bit bi-pass, and its entrance connects first check valve 33, with the
One magnetic valve 34 is in parallel；Its outlet is connected by the second check valve 28 with the oil inlet of accumulator 27；
The oil-out of the accumulator 27 exports hydraulic oil to electro-hydraulic proportion reversing valve 23, oil-out installation pressure sensing
Device 26；
The electro-hydraulic proportion reversing valve 23 uses 3-position 4-way form, and it passes through the second in-line 17 and the second oil return pipe
Road 19 communicates with the oil inlet and oil-out of the steering drag link hydraulic cylinder 14 of the steering drag link 41；
The oil inlet of the overflow valve 24 is in parallel with second solenoid valve 25, oil return opening connection oil storage tank 30；
Hydraulic pump 31 is under the driving of brshless DC motor 32, by the low pressure oil in oil storage tank 30 after oil filter 35 filters
Hydraulic oil is converted into, is exported respectively to the first hydraulic circuit 42 and the second hydraulic circuit 43 through the first check valve 33；
The electronic control module includes master controller 29, rotary angle transmitter 2, torque sensor 3, pressure sensor 26, displacement
Sensor 16, wheel speed sensors 22；
The master controller 29 includes ECU44, preferable front wheel angle module 38, preferable power torque module 39, pressure control
Molding block 36, Bit andits control module 37；
The rotary angle transmitter 2 is arranged on steering wheel 1, for providing driver's input to preferable front wheel angle module 38
Steering wheel angle signal b；
The torque sensor 3 is arranged in steering spindle 4, is driven for being provided to preferable power torque module 39 and ECU44
The dtc signal a of the person's of sailing input；
The pressure sensor 26 is arranged on the outlet port of accumulator 27 in the second hydraulic circuit, for Stress control mould
Block 36 provides accumulator outlet oil liquid pressure signal e；
Institute's displacement sensors 16 are arranged on pull bar 18, for providing pull bar displacement signal d to Bit andits control module 37；
The wheel speed sensors 22 are arranged on wheel 21, for preferable power torque module 39 and preferable front wheel angle
Module 38 provides wheel speed signal c.
Wherein, the control method of the second described hydraulic circuit change steering gearratio, including step are as follows：
11) pressure process：Default accumulator minimum operating pressure P0, full of pressure P1, when accumulator outlet oil pressure is less than in advance
If minimum operating pressure P0When, pressure signal e passes to ECU, and ECU controls the first electromagnetic valve work position to be moved to closing, controls
Second solenoid valve operating position processed is moved to unlatching；Pressure control module uses PID control, is controlled and believed according to brshless DC motor
Number f and pressure signal e, the second hydraulic circuit of control enter pressurized operation pattern, and brshless DC motor drives hydraulic pump works, liquid
Press pump output flow is converted to second solenoid valve output flow by second solenoid valve, and accumulator is pressurizeed；
12) pressure maintaining period：Pressure P is full of when accumulator outlet oil pressure reaches default1When, ECU receives pressure signal e, control
Make the first electromagnetic valve work position and be moved to unlatching, second solenoid valve operating position is moved to closing, and energy storage pressure is maintained at
P0To P1Between, pressure control module controls the second hydraulic circuit to enter pressurize mode of operation；
13) course of work：When car turns to, preferable front wheel angle module is according to wheel speed signal c and the side of driver's input
To disk angular signal b, calculate preferable front wheel angle size and be converted into corresponding steering drag link ideal output displacement, displacement
Control module receives electro-hydraulic proportion reversing valve control signal i and the displacement signal d of displacement transducer feedback, and control electric-hydraulic proportion is changed
Corresponding operating position is moved to valve, accumulator output flow flows into electro-hydraulic proportion reversing valve, electro-hydraulic proportion reversing valve output stream
Amount flows into steering drag link hydraulic cylinder, promotes steering drag link piston to be moved with respect to steering drag link hydraulic cylinder, and drive
Pull bar moves, and changes steering drag link output displacement and corresponding front wheel angle；
Assuming that steering drag link ideal output displacement is x0, the steering drag link output displacement that displacement transducer detects is
x1, according to electro-hydraulic proportion reversing valve, continuously change uninterrupted exports Bit andits control module so as to change steering drag link in proportion
The characteristic of displacement, using sliding-mode control, according to output displacement x1With preferable output displacement x0Difference DELTA x, calculate corresponding sliding
Mould control parameter.
Where it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, then
Ideal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle
Module setup parameter, scope are 0.12-0.41 (1/s)；
According to ideal steering ratio i0, the preferable front wheel angle characteristic under different speeds is obtained, is obtained according to rotary angle transmitter
Angular signal, preferable front wheel angle module calculates preferable front wheel angle, further according to steering drag link and steering trapezium and car
The movement relation of wheel, calculate preferable steering drag link output displacement.
Wherein, described sliding-mode control is specific as follows：
131) switching function for defining sliding mode controller is：S=c (x1-x0), in formula, c is a constant；
132) by switching function, obtain：
133) exponentially approaching rule is chosenε ＞ 0, k ＞ 0, whereinIt is exponential approach item, its solution is
S=s (0) e-kt, constant ε is system motion point convergence diverter surface s=0 speed；
134) make：Wherein V is wheel speed, and δ is steering wheel angle；
135) summary obtains：
Shown in reference picture 3, a kind of rotating direction control method of car active front steering system based on accumulator of the invention, its
It is as follows based on said system, including step：
21) driving that the wheel speed signal and rotary angle transmitter that preferable front wheel angle module reception wheel speed sensors are sent are sent
Member's input direction disk angular signal, according to preferable front wheel angle characteristic, calculate preferable front wheel angle size and be converted into correspondingly
Steering drag link ideal output displacement, export preferable front wheel angle signal to ECU；Preferable power torque module receives wheel speed and passed
Driver's input torque signal that the wheel speed signal and torque sensor that sensor is sent are sent, according to preferable power torque characteristic,
Preferable power torque size is calculated, preferable power torque signal is exported to ECU；ECU is according to preferable front wheel angle signal and reason
Think power torque signal, calculate ideal steering ratio size and the first hydraulic circuit and the second hydraulic circuit working strategies；
22) torque and the difference of preferable power torque that the driver that ECU is transmitted according to torque sensor inputs, the is determined
One hydraulic circuit working strategies, the size of power torque is provided required for obtaining, and calculate corresponding hydraulic fluid flow rate, control nothing
Brushless motor enters the first hydraulic circuit mode of operation, and action edge input is entered to ball-and-nut steering gear；Meanwhile ECU according to turn
The steering drag link feedback signal exported to Drag link and preferable front wheel angle signal, determine the second hydraulic circuit working strategies,
The uninterrupted required for the second hydraulic circuit is calculated, control electro-hydraulic proportion reversing valve is moved to correspondence position；
The hydraulic oil of accumulator output is inputted to steering drag link hydraulic cylinder by electro-hydraulic proportion reversing valve so that is turned to straight
Pull bar piston rod drives pull bar and steering trapezium and car with respect to steering drag link hydraulic cylinder, steering drag link piston rod
Wheel so that front wheel angle size changes；
23) torque of driver's input and corner, successively by steering wheel, steering spindle, ball-and-nut steering gear, steering vertical pulling
Bar, steering drag link output displacement is ultimately converted to, ECU makes by coordinating control to two hydraulic circuits in this course
First hydraulic circuit carries out power-assisted to ball-and-nut steering gear, and the second hydraulic circuit carries out Bit andits control to steering drag link, completes
Active steering.
Where it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, then
Ideal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle
Module setup parameter, scope are 0.12-0.41 (1/s)；
According to ideal steering ratio i0, the preferable front wheel angle characteristic under different speeds is obtained, is obtained according to rotary angle transmitter
Angular signal, preferable front wheel angle module calculates preferable front wheel angle, further according to steering drag link and steering trapezium and car
The movement relation of wheel, calculate preferable steering drag link output displacement；
Preferable assist characteristic is：
In formula：TmFor desired torque, TdFor driver's input torque, T0Torque during to start to provide power-assisted, TmaxFor maximum
Power-assisted input torque, TfFor torque capacity, k is the assist characteristic slope of curve that preferable power torque module calculates.
Concrete application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this
A little improve also should be regarded as protection scope of the present invention.
Claims (9)
- A kind of 1. car active front steering system based on accumulator, it is characterised in that including：Mechanical module, hydraulic module and Electronic control module；The mechanical module include be sequentially connected steering wheel, steering spindle, ball-and-nut steering gear, pitman arm, steering drag link, Steering trapezium and wheel；The ball-and-nut steering gear includes ball-and-nut steering gear housing, steering nut, steering screw, tooth fan；Ball-and-nut steering gear Oil inlet and oil-out are respectively equipped with before and after housing, steering nut is assemblied in ball-and-nut steering gear housing and is axially moved, and turns To nut as piston, hydraulic cylinder-piston structure is formed with ball-and-nut steering gear housing；Steering screw front end connects steering spindle, Steering screw rear end connects steering nut, and the convert rotational motion that steering spindle transmission is come turns to for steering nut relative cycle ball The axial movement of device housing；Tooth is fanned one end and engaged with steering nut, and the other end shakes as ball-and-nut steering gear output end with steering Arm is connected；The steering drag link includes steering drag link piston, steering drag link hydraulic cylinder, steering drag link piston rod, pull bar； The shell of steering drag link hydraulic cylinder is connected by pitman arm with ball-and-nut steering gear output end, and oil inlet is offered on shell And oil-out；Steering drag link piston is assemblied in above-mentioned steering drag link hydraulic cylinder, and one end is fixedly mounted steering drag link and lived Stopper rod；Pull bar front end connects above-mentioned steering drag link piston rod, rear end connection steering trapezium and wheel；The hydraulic module includes oil storage tank, oil filter, brshless DC motor, hydraulic pump, the first check valve, the first hydraulic circuit With the second hydraulic circuit；First hydraulic circuit includes the first magnetic valve, rotary valve, the first in-line, the first return line；First electromagnetic valve entrance is connected with first one-way valved outlet, and outlet is connected with rotary valve entrance；The rotary valve be arranged on the mechanical steering module steering spindle on, rotary valve spool both ends respectively with steering spindle and circulating ball The steering screw connection of steering gear, is allocated, and pass through the when spool position changes to the hydraulic oil of the first magnetic valve input One in-line and the first return line are connected with the oil inlet and oil-out of the ball-and-nut steering gear；Second hydraulic circuit includes the second check valve, second solenoid valve, accumulator, electro-hydraulic proportion reversing valve, the second oil-feed Pipeline, the second return line, overflow valve；The second solenoid valve entrance connects first check valve, in parallel with the first magnetic valve；It exports unidirectional by second The oil inlet of valve and accumulator connects；The oil-out of the accumulator exports hydraulic oil to electro-hydraulic proportion reversing valve, oil-out installation pressure sensor；The electro-hydraulic proportion reversing valve is straight by the steering of the second in-line and the second return line and the steering drag link The oil inlet and oil-out of pull bar hydraulic cylinder communicate；The oil inlet of the overflow valve is in parallel with second solenoid valve, oil return opening connection oil storage tank；Low pressure oil in oil storage tank is converted into high pressure by hydraulic pump under brshless DC motor driving after oil filter filters Oil, exported respectively to the first hydraulic circuit and the second hydraulic circuit through the first check valve；The electronic control module includes master controller, rotary angle transmitter, torque sensor, pressure sensor, displacement transducer, wheel speed Sensor；The master controller includes ECU, preferable front wheel angle module, preferable power torque module, pressure control module, displacement control Molding block；The rotary angle transmitter is installed on the steering wheel, for providing driver's steering wheel of input to preferable front wheel angle module Angular signal b；The torque sensor is arranged in steering spindle, for providing driver's input to preferable power torque module and ECU Dtc signal a；The pressure sensor is arranged on accumulator outlet port in the second hydraulic circuit, for providing storage to pressure control module Can device outlet oil liquid pressure signal e；Institute's displacement sensors are arranged on pull bar, for providing pull bar displacement signal d to Bit andits control module；The wheel speed sensors are arranged on wheel, for providing wheel to preferable power torque module and preferable front wheel angle module Fast signal c.
- 2. the car active front steering system according to claim 1 based on accumulator, it is characterised in that the first described electricity Magnet valve uses the normally opened form of bi-bit bi-pass.
- 3. the car active front steering system according to claim 1 based on accumulator, it is characterised in that the second described electricity Magnet valve uses the normally closed form of bi-bit bi-pass.
- 4. the car active front steering system according to claim 1 based on accumulator, it is characterised in that described electro-hydraulic ratio Example reversal valve uses 3-position 4-way form.
- 5. the car active front steering system as claimed in any of claims 1 to 4 based on accumulator, its feature exist In the control method of the second described hydraulic circuit change steering gearratio, including step are as follows：11) pressure process：Default accumulator minimum operating pressure P0, full of pressure P1, preset most when accumulator outlet oil pressure is less than Low operating pressure P0When, pressure signal e passes to ECU, and ECU controls the first electromagnetic valve work position to be moved to closings, controls the Two electromagnetic valve work positions are moved to unlatching；Pressure control module uses PID control, according to brushless dc machine control signal f With pressure signal e, the second hydraulic circuit of control enters pressurized operation pattern, brshless DC motor driving hydraulic pump works, hydraulic pressure Pump output flow is converted to second solenoid valve output flow by second solenoid valve, and accumulator is pressurizeed；12) pressure maintaining period：Pressure P is full of when accumulator outlet oil pressure reaches default1When, ECU receives pressure signal e, control first Electromagnetic valve work position is moved to unlatching, and second solenoid valve operating position is moved to closing, and energy storage pressure is maintained at P0To P1It Between, pressure control module controls the second hydraulic circuit to enter pressurize mode of operation；13) course of work：When car turns to, preferable front wheel angle module is according to wheel speed signal c and the steering wheel of driver's input Angular signal b, calculate preferable front wheel angle size and be converted into corresponding steering drag link ideal output displacement, Bit andits control Module receives electro-hydraulic proportion reversing valve control signal i and the displacement signal d of displacement transducer feedback, controls electro-hydraulic proportion reversing valve Corresponding operating position is moved to, accumulator output flow flows into electro-hydraulic proportion reversing valve, electro-hydraulic proportion reversing valve output flow stream Enter steering drag link hydraulic cylinder, promote steering drag link piston to be moved with respect to steering drag link hydraulic cylinder, and drive pull bar Motion, change steering drag link output displacement and corresponding front wheel angle；Assuming that steering drag link ideal output displacement is x0, the steering drag link output displacement that displacement transducer detects is x1, position Move control module and continuously change uninterrupted in proportion according to electro-hydraulic proportion reversing valve so as to change steering drag link output displacement Characteristic, using sliding-mode control, according to output displacement x1With preferable output displacement x0Difference DELTA x, calculate corresponding sliding formwork control Parameter processed.
- 6. the car active front steering system according to claim 5 based on accumulator, it is characterised in that assuming that steering Gearratio be i, front wheel angle δf, wheel steering δ, thenIdeal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle module Setup parameter, scope 0.12-0.41；According to ideal steering ratio i0, obtain the preferable front wheel angle characteristic under different speeds, the corner obtained according to rotary angle transmitter Signal, preferable front wheel angle module calculate preferable front wheel angle, further according to steering drag link and steering trapezium and the fortune of wheel Dynamic relation, calculates preferable steering drag link output displacement.
- 7. the car active front steering system according to claim 5 based on accumulator, it is characterised in that described sliding formwork control Method processed is specific as follows：131) switching function for defining sliding mode controller is：S=c (x1-x0), in formula, c is a constant；132) by switching function, obtain：133) exponentially approaching rule is chosenWhereinIt is exponential approach item, its solution is s=s (0)e-kt, constant ε is system motion point convergence diverter surface s=0 speed；134) make：Wherein V is wheel speed, and δ is steering wheel angle；135) summary obtains：
- 8. a kind of rotating direction control method of the car active front steering system based on accumulator, it is characterised in that based on claim System described in 1-7 any one, including step are as follows：21) driver that the wheel speed signal and rotary angle transmitter that preferable front wheel angle module reception wheel speed sensors are sent are sent is defeated Enter steering wheel angle signal, according to preferable front wheel angle characteristic, calculate preferable front wheel angle size and be converted into corresponding turn To Drag link ideal output displacement, preferable front wheel angle signal is exported to ECU；Preferable power torque module receives wheel speed sensors Driver's input torque signal that the wheel speed signal and torque sensor sent is sent, according to preferable power torque characteristic, calculate Go out preferable power torque size, preferable power torque signal is exported to ECU；ECU helps according to preferable front wheel angle signal and ideal Power dtc signal, calculate ideal steering ratio size and the first hydraulic circuit and the second hydraulic circuit working strategies；22) torque and the difference of preferable power torque that the driver that ECU transmits according to torque sensor inputs, determine the first liquid Road working strategies are pushed back, the size of power torque is provided required for obtaining, and calculate corresponding hydraulic fluid flow rate, are controlled brushless straight Stream motor enters the first hydraulic circuit mode of operation, and action edge input is entered to ball-and-nut steering gear；Meanwhile ECU is straight according to turning to The steering drag link feedback signal of pull bar output and preferable front wheel angle signal, determine the second hydraulic circuit working strategies, calculate The uninterrupted gone out required for the second hydraulic circuit, control electro-hydraulic proportion reversing valve are moved to correspondence position；The hydraulic oil of accumulator output is inputted to steering drag link hydraulic cylinder by electro-hydraulic proportion reversing valve so that steering drag link Piston rod drives pull bar and steering trapezium and wheel, made with respect to steering drag link hydraulic cylinder, steering drag link piston rod Front wheel angle size is obtained to change；23) torque of driver's input and corner, successively by steering wheel, steering spindle, ball-and-nut steering gear, steering drag link, Steering drag link output displacement is converted to, ECU makes the first hydraulic pressure by coordinating control to two hydraulic circuits in this course Loop carries out power-assisted to ball-and-nut steering gear, and the second hydraulic circuit carries out Bit andits control to steering drag link, completes active steering.
- 9. the rotating direction control method of the car active front steering system according to claim 8 based on accumulator, its feature exist In, it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, thenIdeal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle module Setup parameter, scope 0.12-0.41；According to ideal steering ratio i0, obtain the preferable front wheel angle characteristic under different speeds, the corner obtained according to rotary angle transmitter Signal, preferable front wheel angle module calculate preferable front wheel angle, further according to steering drag link and steering trapezium and the fortune of wheel Dynamic relation, calculates preferable steering drag link output displacement；Preferable assist characteristic is：In formula：TmFor desired torque, TdFor driver's input torque, T0Torque during to start to provide power-assisted, TmaxFor maximum power-assisted Input torque, TfFor torque capacity, k is the assist characteristic slope of curve that preferable power torque module calculates.
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| CN201710927905.7A CN107600175B (en) | 2017-10-09 | 2017-10-09 | Active steering system of passenger car based on energy accumulator and steering control method thereof |
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| CN110422229A (en) * | 2019-08-12 | 2019-11-08 | 三一汽车起重机械有限公司 | Pressure feedback control method and controller for vehicle assisted diversion |
| CN111559424A (en) * | 2020-05-15 | 2020-08-21 | 山推工程机械股份有限公司 | Digital line control steering system and control method and device thereof |
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| CN107600175B (en) | 2023-05-23 |
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