CN107618566A - For the control method of hydraulic steering gear, controller and vehicle - Google Patents
For the control method of hydraulic steering gear, controller and vehicle Download PDFInfo
- Publication number
- CN107618566A CN107618566A CN201610563048.2A CN201610563048A CN107618566A CN 107618566 A CN107618566 A CN 107618566A CN 201610563048 A CN201610563048 A CN 201610563048A CN 107618566 A CN107618566 A CN 107618566A
- Authority
- CN
- China
- Prior art keywords
- steering
- steering gear
- vehicle
- shimmy
- high frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Include the invention discloses a kind of for the control method of hydraulic steering gear, controller and vehicle, the control method：Obtain vehicle wheel rotational speed；Determine whether steering column occurs high frequency revolution；In the case where the vehicle wheel rotational speed obtained is more than vehicle wheel rotational speed predetermined threshold value and determines that high frequency revolution occurs for the steering column, it is shimmy to determine that steering wheel occurs；In the case of it is determined that steering wheel generation is shimmy, the flow of the steering liquid flowed in the hydraulic steering gear is reduced.Shimmy the problem of causing to influence crew comfort and operation ease and endanger vehicle safety can occur efficiently against steering wheel provided by the present invention for the control method of hydraulic steering gear, controller and vehicle, the oil consumption of engine will not be increased simultaneously, be advantageous to energy-saving and emission-reduction.
Description
Technical field
The present invention relates to vehicle electric field, in particular it relates to a kind of control method for hydraulic steering gear, controller
And vehicle.
Background technology
With the continuous development of vehicle electric technology, driver comfort, driving safety and operation of the user to vehicle
The requirement more and more higher of convenience, the shimmy of steering wheel is the FAQs for influenceing these performances.The shimmy main hair of steering wheel
Raw wheel is influenceed and swung by unbalance dynamic during its straight line is run at high speed, and wheel is by turning
The axial movement of steering gear pull bar is driven to section, causes the steering column of steering gear to rotate, therefore steering wheel is swung therewith, and one
The hunting frequency of denier wheel is identical with the intrinsic frequency of steering wheel, and steering wheel will occur shimmy (also referred to as " resonating ").Side
To the shimmy driver comfort and operation ease that can influence driver of disk, the serious safety that can also endanger vehicle traveling
Property.
At present, in order to solve the shimmy problem of steering wheel, typically by increasing the internal friction of steering gear in correlation technique,
Increase the friction of gear ＆ rack structure so that influence of the wheel when swinging to steering column reduces, so as to come
Overcome the shimmy problem of steering wheel；In addition, for the vehicle using hydraulic steering gear, can also be by reducing steering gear oil pipe
Internal diameter increases the reverse thrust of steering gear, is blocked shimmy to overcome the shimmy problem of steering wheel.But pass through increasing
Add the internal friction of steering gear solve steering wheel it is shimmy while can also increase the oil consumption of engine；And reduce steering gear oil
The internal diameter of pipe can then cause steering gear to turn to the problems such as return is bad.
The content of the invention
It is an object of the invention to provide a kind of for the control method of hydraulic steering gear, controller and vehicle, do not increasing
On the premise of engine consumption, solves the shimmy problem of steering wheel.
To achieve these goals, the present invention provides a kind of control method for hydraulic steering gear, the control method
Including：
Obtain vehicle wheel rotational speed；
Determine whether steering column occurs high frequency revolution；
It is more than vehicle wheel rotational speed predetermined threshold value in the vehicle wheel rotational speed obtained and determines that high frequency revolution occurs for the steering column
In the case of, it is shimmy to determine that steering wheel occurs；
In the case of it is determined that steering wheel generation is shimmy, the stream of the steering liquid flowed in the hydraulic steering gear is reduced
Amount.
Alternatively, it is described in the case of it is determined that steering wheel generation is shimmy, reduce and flowed in the hydraulic steering gear
Steering liquid flow the step of perform as follows：In the case of it is determined that steering wheel generation is shimmy, reduce institute
State the actual internal area that liquid is turned in hydraulic steering gear.
Alternatively, the step of whether the determination steering column occurs high frequency revolution includes：
In the case where receiving steering column high frequency revolution signal, determine that high frequency revolution occurs for steering column；
In the case where not receiving steering column high frequency revolution signal, determine that high frequency revolution does not occur for steering column.
Alternatively, the control method also includes：
In the case of it is determined that steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
In the case of it is determined that the vehicle wheel rotational speed changes, the steering liquid that recovers to flow in the hydraulic steering gear
Flow.
According to another aspect of the present invention, a kind of controller for hydraulic steering gear is also provided, the controller includes：
Rotating speed obtains module, for obtaining vehicle wheel rotational speed；
First judge module, for determining whether steering column occurs high frequency revolution；
Second judge module, obtain module with the rotating speed and first judge module is connected, for being obtained
Vehicle wheel rotational speed be more than vehicle wheel rotational speed predetermined threshold value and determine that high frequency revolution occurs for the steering column in the case of, determine direction
Disk occurs shimmy；And
Execution module, be connected with second judge module, for it is determined that the steering wheel occur it is shimmy in the case of,
Reduce the flow of the steering liquid flowed in the hydraulic steering gear.
Alternatively, the execution module is configured to reduce the steering flowed in the hydraulic steering gear as follows
The flow of liquid：In the case where steering wheel generation is shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
Alternatively, first judge module includes：
Receiving submodule, for receiving the revolution signal of steering column；
Judging submodule, it is connected with the receiving submodule, for receiving the steering column high frequency revolution signal
In the case of, determine that high frequency revolution occurs for steering column；
In the case where not receiving the steering column high frequency revolution signal, determine that high frequency does not occur and returns for steering column
Turn.
Alternatively, the controller also includes：
3rd judge module, obtain module with the rotating speed and the second judge module is connected, for sentencing described second
In the case that disconnected module determines that the steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
The execution module is also connected with the 3rd judge module, for it is determined that what the vehicle wheel rotational speed changed
In the case of, recover the flow of steering liquid flowed in the hydraulic steering gear.
According to another aspect of the invention, a kind of vehicle is also provided, the vehicle includes：
Provided by the present invention for the controller of hydraulic steering gear；
Steering column rotation detecting device, it is connected with the controller for hydraulic steering gear, for detecting described turn
Revolution signal to tubing string；
Diverted flow amount control device, it is connected with the controller for hydraulic steering gear, for being used for according to
The controller of hydraulic steering gear is controlled to change the flow of the steering liquid flowed in the hydraulic steering gear.
Alternatively, the vehicle also includes wheel speed sensors, turns for detecting vehicle wheel rotational speed, and by detected wheel
Speed is transferred to the controller for being used for hydraulic steering gear.
Alternatively, the steering column rotation detecting device is provided in inside clock spring, for turning in clock spring
The rotary angle transmitter of the steering column revolution signal is sent when dynamic.
Alternatively, the diverted flow amount control device is provided on the steering gear oil pipe of the hydraulic steering gear, used
In the aperture valve for controlling the logical sectional area of diverted flow in the hydraulic steering gear.
Pass through above-mentioned technical proposal, can provided by the present invention for the control method of hydraulic steering gear, controller and vehicle
To determine it is shimmy whether steering wheel occurs according to whether vehicle wheel rotational speed and steering column occur high frequency revolution, and can be in direction
In the case that disk generation is shimmy, pushed away by reducing the flow of the steering liquid flowed in hydraulic steering gear to increase the reverse of steering gear
Power so that shimmy is blocked, and steering column stops operating, and steering wheel is shimmy also to be stopped, so as to efficiently against direction
Shimmy the problem of causing to influence crew comfort and operation ease and endanger vehicle safety, occurs for disk.In addition, this hair
The internal friction that need not increase steering gear for the control method of hydraulic steering gear, controller and vehicle of bright offer can solve
The certainly shimmy problem of steering wheel, therefore the oil consumption of engine need not be increased, the energy can be saved and reduce discharge.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the flow chart of the control method for hydraulic steering gear provided according to one embodiment of the present invention；
Fig. 2 is the flow of the control method for hydraulic steering gear provided according to another embodiment of the invention
Figure；
Fig. 3 A are the structured flowcharts of the controller for hydraulic steering gear provided according to one embodiment of the present invention；
Fig. 3 B are the structural frames of the controller for hydraulic steering gear provided according to another embodiment of the invention
Figure；
Fig. 3 C are the structural frames of the controller for hydraulic steering gear provided according to another embodiment of the invention
Figure；
Fig. 4 A are the connection relationship diagrams between each device in the vehicle provided according to one embodiment of the present invention；
Fig. 4 B are that the annexation in the vehicle provided according to another embodiment of the invention between each device is illustrated
Figure.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 1 is the flow chart of the control method for hydraulic steering gear provided according to one embodiment of the present invention.
As shown in figure 1, the present invention provides a kind of control method for hydraulic steering gear, the control method can include：
In step s 110, vehicle wheel rotational speed is obtained.Wherein, vehicle wheel rotational speed for example can be by communicating with vehicle communication bus
To obtain, can also be directly obtained by the wheel speed sensors from vehicle.
In the step s 120, determine whether steering column occurs high frequency revolution.Specifically, high frequency revolution occurs for steering column
Steering wheel can be caused to rotate, the rotation of steering wheel is probably the rotation needed for Ackermann steer angle, it is also possible to which its straight line travels
When steering wheel occur it is shimmy caused by rotate, therefore steering column occur high frequency revolution be steering wheel occur it is shimmy it is necessary not
Adequate condition, determine steering wheel whether occur it is shimmy can determine first steering column whether occur high frequency revolution, steering column
Generation high frequency gyratory directions disk is only possible to occur shimmy.Exemplarily, the frequency of steering column revolution signal is in 12Hz-16Hz
When, it may be determined that high frequency revolution occurs for steering column, and still, the present invention, which is not intended to limit, determines that high frequency revolution occurs for steering column
Condition, according to vehicle or the difference of road conditions, determine that the condition of steering column generation high frequency revolution can also be different.
In step s 130, it is more than vehicle wheel rotational speed predetermined threshold value in the vehicle wheel rotational speed obtained and determines steering column
In the case that high frequency turns round, it is shimmy to determine that steering wheel occurs.Shimmy due to steering wheel typically occurs in its straight line row at a high speed
During sailing, vehicle wheel rotational speed predetermined threshold value can for example be arranged to 80km/h (kilometer per hour), and it is pre- that vehicle wheel rotational speed is more than this
If during threshold value, it is believed that vehicle is in high-speed travel state.In addition, the speed that vehicle is in more than 80Km/h is run at high speed
When, either vehicle is in straight travel state, or in state of overtaking other vehicles, and vehicle is in when overtaking other vehicles state, even if steering tube
High frequency revolution occurs for post, influences also smaller, can ignore to caused by driver comfort.Therefore vehicle wheel rotational speed can more than 80km/h
To determine that vehicle is in straight line high-speed travel state.
Wheel will be swung once for each revolution under the influence of unbalance dynamic, and wheel is driven by knuckle and turned to
Device pull bar is moved axially, and axial movement is changed into steering column by steering gear pull bar by the gear ＆ rack structure inside steering gear
Revolution.When its straight line is run at high speed, the dancing of wheel is obvious, if now high frequency revolution occurs for steering column, really
It is shimmy to determine steering wheel generation.The present invention is not intended to limit the embodiment of vehicle wheel rotational speed predetermined threshold value, and other can show car
The vehicle wheel rotational speed value that straight line is run at high speed falls within protection scope of the present invention.
In step S140, in the case of it is determined that steering wheel generation is shimmy, the steering flowed in hydraulic steering gear is reduced
The flow of liquid.Illustratively, after determining that steering wheel generation is shimmy, hydraulic rotation can be reduced by reducing the internal diameter of steering gear oil pipe
The flow of the steering liquid flowed into device, the internal diameter of reduction steering gear oil pipe may, for example, be sets aperture on steering gear oil pipe
Valve, reduce the internal diameter of steering gear oil pipe by reducing the aperture of aperture valve.After the flow reduction for turning to liquid, the back of the body of steering gear
Pressure can increase therewith, and reverse thrust also becomes big, and therefore the swing of wheel can be blocked, so as to cause steering gear pull bar axially to move
It is dynamic to stop so that steering column, which rotates, to be stopped, i.e., steering wheel is no longer shimmy.
Pass through above-mentioned technical proposal, can be according to vehicle wheel rotational speed provided by the present invention for the control method of hydraulic steering gear
And whether steering column occurs high frequency revolution to determine it is shimmy whether steering wheel occurs, and shimmy feelings can occur in steering wheel
Under condition, increase the reverse thrust of steering gear by reducing the flow of the steering liquid flowed in hydraulic steering gear so that wheel is put
Dynamic to be blocked, steering column is stopped operating, and steering wheel is shimmy also to be stopped, so as to which shimmy cause occur efficiently against steering wheel
The problem of influenceing crew comfort and operation ease and endangering vehicle safety.In addition, provided by the present invention for liquid
The internal friction that control method, controller and the vehicle of pressure steering gear need not increase steering gear can solve the shimmy of steering wheel
Problem, therefore the oil consumption of engine need not be increased, the energy can be saved and reduce discharge.
Alternatively, in step S140 in the case of it is determined that steering wheel generation is shimmy, reduce what is flowed in hydraulic steering gear
Turning to the flow of liquid can realize via the actual internal area for reducing steering liquid in steering gear.Specifically, diverted flow is reduced
Logical sectional area, in the unit interval, the diverted flow amount flowed in steering gear is reduced, the reverse thrust increase of steering gear, resistance
Stagnant shimmy so that the rotation of steering column stops, and the shimmy of steering wheel will also stop.
Fig. 2 is the flow of the control method for hydraulic steering gear provided according to another embodiment of the invention
Figure, as shown in Fig. 2 alternatively, the control method may comprise steps of：
In step S210, vehicle wheel rotational speed is obtained；
In step S221, judge whether to receive steering column high frequency revolution signal；
In step S222, in the case where receiving steering column high frequency revolution signal, it is high to determine that steering column occurs
Frequency turns round；
In step S223, in the case where being not received by steering column high frequency revolution signal, determine that steering column does not have
Have and high frequency revolution occurs；
In step S230, in the case where the vehicle wheel rotational speed obtained is more than vehicle wheel rotational speed predetermined threshold value, direction is determined
Disk occurs shimmy；
In step S240, in the case of it is determined that steering wheel generation is shimmy, the steering flowed in hydraulic steering gear is reduced
The flow of liquid.
Thus, the control method receives whether steering column revolution signal is that high frequency revolution signal is to be turned to according to determination
Whether tubing string occurs high frequency revolution, so can simply directly obtain the turn state of steering column, and whether determine vehicle
State in straight-line travelling so that it is more accurate to determine whether steering wheel occurs shimmy result.
It although reducing the flow of the steering liquid flowed in hydraulic steering gear, can temporarily cease the rotation of steering column,
But the flow for reducing the steering liquid flowed in hydraulic steering gear for a long time can cause steering gear return bad, influence steering gear just
Often use.The hunting frequency that fundamentally solve the shimmy intrinsic frequency for having to make steering wheel of steering wheel and wheel has area
Not, and the intrinsic frequency of steering wheel is only relevant with the build-in attribute of steering wheel, will not be changed because of the change of external force, so
The shimmy of steering wheel can only be overcome by changing the hunting frequency of wheel.The hunting frequency of wheel is changed with vehicle wheel rotational speed
, only vehicle wheel rotational speed and occur steering wheel it is shimmy when vehicle wheel rotational speed it is different, the shimmy problem of steering wheel can it is thorough must
To solution.Therefore, as shown in Fig. 2 alternatively, the control method can also include：
In step s 250, judge whether vehicle wheel rotational speed changes；
In step S260, in the case of it is determined that vehicle wheel rotational speed changes, that recovers to flow in hydraulic steering gear turns
To the flow of liquid.
Control method provided by the invention can record vehicle wheel rotational speed when steering wheel occurs shimmy, and can obtain in real time
Vehicle wheel rotational speed is obtained, vehicle wheel rotational speed when occurring shimmy by comparing steering wheel and the vehicle wheel rotational speed currently obtained, to determine wheel
Rotating speed (rotating speed of wheel determines the hunting frequency of wheel) whether change.The car if current vehicle wheel rotational speed changes
The hunting frequency of wheel can change therewith, therefore produce difference with the intrinsic frequency of steering wheel, steering wheel is no longer put
Shake, now to ensure the normal return function of steering gear, the flow of steering liquid flowed in hydraulic steering gear can be recovered；If
Current vehicle wheel rotational speed does not change, and the hunting frequency of wheel will not also change, now in order to ensure that steering wheel will not be again
Secondary generation is shimmy, continues the vehicle wheel rotational speed compared when steering wheel occurs shimmy and the vehicle wheel rotational speed currently obtained, until current vehicle
When vehicle wheel rotational speed when wheel speed and steering wheel occur shimmy is had any different, flow the steering liquid that is just flowed in recovery hydraulic steering gear
Amount.
In addition, the embodiment of the step S210, S230 and S240 shown in Fig. 2 correspond in Fig. 1 the step shown
Rapid S110, S130 and S140 embodiment, therefore, identical content are not described in detail.Meanwhile according to the another of the present invention
On the one hand, a kind of controller for hydraulic steering gear is also provided, the controller corresponds to above-mentioned control method, and identical is real
Mode is applied also to will not be described in great detail.
Fig. 3 A are the structured flowcharts of the controller for hydraulic steering gear provided according to one embodiment of the present invention.
As shown in Figure 3A, the controller 300 can include：
Rotating speed obtains module 310, for obtaining vehicle wheel rotational speed；
First judge module 320, for determining whether steering column occurs high frequency revolution；
Second judge module 330, obtain the judge module 320 of module 310 and first with rotating speed and be connected, for being obtained
Vehicle wheel rotational speed be more than vehicle wheel rotational speed predetermined threshold value and determine that high frequency revolution occurs for the steering column in the case of, determine direction
Disk occurs shimmy；And
Execution module 340, it is connected with the second judge module 330, in the case of it is determined that steering wheel generation is shimmy, subtracting
The flow of the steering liquid flowed in few hydraulic steering gear.
Pass through above-mentioned technical proposal, provided by the present invention for hydraulic steering gear controller can according to vehicle wheel rotational speed with
And whether steering column occurs high frequency revolution to determine it is shimmy whether steering wheel occurs, and shimmy situation can occur in steering wheel
Under, increase the reverse thrust of steering gear by reducing the flow of the steering liquid flowed in hydraulic steering gear so that shimmy
Blocked, steering column is stopped operating, and steering wheel is shimmy also to be stopped, so as to cause shadow efficiently against steering wheel generation is shimmy
The problem of ringing crew comfort and operation ease and endangering vehicle safety.In addition, provided by the present invention for hydraulic pressure
The internal friction that control method, controller and the vehicle of steering gear need not increase steering gear can solve the shimmy of steering wheel and ask
Topic, therefore the oil consumption of engine need not be increased, the energy can be saved and reduce discharge.
Alternatively, execution module 340 may be configured to turn to the actual internal area of liquid in hydraulic steering gear by reducing
To reduce the flow of the steering liquid flowed in hydraulic steering gear.
Fig. 3 B are the structural frames of the controller for hydraulic steering gear provided according to another embodiment of the invention
Figure.As shown in Figure 3 B, alternatively, the first judge module 320 can include：
Receiving submodule 321, for receiving the revolution signal of steering column；
Judging submodule 322, it is connected with receiving submodule 321, for receiving steering column high frequency revolution signal
In the case of, determine that high frequency revolution occurs for steering column；In the case where not receiving steering column high frequency revolution signal, it is determined that turning
High frequency revolution does not occur to tubing string.
Fig. 3 C are the structured flowcharts of the controller for hydraulic steering gear provided according to one embodiment of the present invention.
As shown in Figure 3 C, alternatively, the controller 300 can also include：
3rd judge module 350, obtain the judge module 330 of module 310 and second with rotating speed and be connected, for sentencing second
In the case that disconnected module 330 determines that steering wheel generation is shimmy, determine whether vehicle wheel rotational speed changes；
Execution module 340 is also connected with the 3rd judge module 350, for it is determined that the situation that vehicle wheel rotational speed changes
Under, recover the flow of steering liquid flowed in hydraulic steering gear.
Fig. 4 A to 4B are the connection relationship diagrams between each device in the vehicle provided according to the embodiment of the present invention.
According to another aspect of the invention, a kind of vehicle is also provided, as shown in Fig. 4 A to 4B, can be included in the vehicle：The present invention carries
The controller 300 for hydraulic steering gear supplied；Steering column rotation detecting device 200, with the control for hydraulic steering gear
Device 300 connects, for detecting the revolution signal of steering column；Diverted flow amount control device 400, and for hydraulic steering gear
Controller 300 connects, and changes what is flowed in hydraulic steering gear for the control according to the controller 300 for hydraulic steering gear
Turn to the flow of liquid.
As shown in Figure 4 B, alternatively, the vehicle can also include wheel speed sensors 100, for detecting vehicle wheel rotational speed, and will
Detected vehicle wheel rotational speed is transferred to the controller 300 for hydraulic steering gear.
Vehicle wheel unbalance dynamic when running at high speed just occurs the shimmy problem of steering wheel, such as vehicle is big in speed
In the case of 80 kilometer per hours (km/h), the shimmy of steering wheel easily occurs.In one embodiment, the present invention provides
Vehicle be provided with wheel speed sensors, wheel speed sensors can directly detect the vehicle wheel rotational speed of vehicle so that for fluid-link steering
Whether the controller of device can judge steering wheel according to the revolution signal of the vehicle wheel rotational speed of its detection and steering column in real time
Generation is shimmy.
Alternatively, steering column rotation detecting device 200 can be provided in inside clock spring, in clock spring
The rotary angle transmitter of steering column revolution signal is sent during rotation.
Clock spring be each shift knob on closure disk such as switching turning indicator control and rain brush, with car
Wire harness between electronic control unit, with the rotation of steering wheel, its length can stretch, and clock spring can be in certain journey
Reflection rotates the situation that tubing string turns round on degree.Exemplarily, rotary angle transmitter can be internally provided with clock spring, turned
Angle transducer can detect clock spring rotate angle and the number of turns, clock spring rotate angle and the number of turns it may be said that
The degree that bright steering column turns round, the signal of now rotary angle transmitter output can represent the revolution signal of steering column.
It should be appreciated that the heretofore described sensor for being used to send steering column revolution signal when clock spring rotates is simultaneously
Rotary angle transmitter is not restricted to, can reflect that the other kinds of sensor that clock spring rotates, such as photoelectric sensor also belong to
In protection scope of the present invention.
Alternatively, diverted flow amount control device 400 can be provided on the steering gear oil pipe of hydraulic steering gear, be used for
Control the aperture valve for the actual internal area that liquid is turned in hydraulic steering gear.
Illustratively, a magnetic valve can be set on steering gear oil pipe, and the magnetic valve can be according to provided by the invention
Reduce or recover the actual internal area of steering liquid in steering gear oil pipe for the control of the controller of hydraulic steering gear, so as to
The flow of the steering liquid flowed in control hydraulic steering gear.Thus, not only steering wheel can occur for vehicle provided by the invention
It is shimmy in the case of reduce the actual internal area that liquid is turned in steering gear oil pipe, can also be to overcome the shimmy of steering wheel
The shimmy actual internal area for recovering to turn to liquid in steering gear oil pipe later of steering wheel is overcome, so as to ensure normal condition
Under, the return performance of steering gear is unaffected.
Pass through above-mentioned technical proposal, can provided by the present invention for the control method of hydraulic steering gear, controller and vehicle
To determine it is shimmy whether steering wheel occurs according to whether vehicle wheel rotational speed and steering column occur high frequency revolution, and can be in direction
In the case that disk generation is shimmy, pushed away by reducing the flow of the steering liquid flowed in hydraulic steering gear to increase the reverse of steering gear
Power so that shimmy is blocked, and steering column stops operating, and steering wheel is shimmy also to be stopped, so as to efficiently against direction
Shimmy the problem of causing to influence crew comfort and operation ease and endanger vehicle safety, occurs for disk.In addition, this hair
The internal friction that need not increase steering gear for the control method of hydraulic steering gear, controller and vehicle of bright offer can solve
The certainly shimmy problem of steering wheel, therefore the oil consumption of engine need not be increased, the energy can be saved and reduce discharge.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.Such as.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (12)
1. a kind of control method for hydraulic steering gear, it is characterised in that the control method includes：
Obtain vehicle wheel rotational speed；
Determine whether steering column occurs high frequency revolution；
It is more than vehicle wheel rotational speed predetermined threshold value in the vehicle wheel rotational speed obtained and determines that the feelings of high frequency revolution occur for the steering column
Under condition, it is shimmy to determine that steering wheel occurs；
In the case of it is determined that steering wheel generation is shimmy, the flow of the steering liquid flowed in the hydraulic steering gear is reduced.
2. control method according to claim 1, it is characterised in that described it is determined that shimmy feelings occur for the steering wheel
Include under condition, the step of the flow for reducing the steering liquid flowed in the hydraulic steering gear：
In the case of it is determined that steering wheel generation is shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
3. control method according to claim 1, it is characterised in that whether the determination steering column occurs high frequency revolution
The step of include：
In the case where receiving steering column high frequency revolution signal, determine that high frequency revolution occurs for steering column；
In the case where not receiving steering column high frequency revolution signal, determine that high frequency revolution does not occur for steering column.
4. control method according to claim 3, it is characterised in that the control method also includes：
In the case of it is determined that steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
In the case of it is determined that the vehicle wheel rotational speed changes, recover the stream of steering liquid flowed in the hydraulic steering gear
Amount.
5. a kind of controller for hydraulic steering gear, it is characterised in that the controller includes：
Rotating speed obtains module, for obtaining vehicle wheel rotational speed；
First judge module, for determining whether steering column occurs high frequency revolution；
Second judge module, obtain module with the rotating speed and first judge module is connected, in the car obtained
In the case that wheel speed is more than vehicle wheel rotational speed predetermined threshold value and determines that high frequency revolution occurs for the steering column, determine that steering wheel is sent out
Life is shimmy；And
Execution module, it is connected with second judge module, in the case of it is determined that steering wheel generation is shimmy, reducing
The flow of the steering liquid flowed in the hydraulic steering gear.
6. controller according to claim 5, it is characterised in that the execution module is configured as subtracting as follows
The flow of the steering liquid flowed in few hydraulic steering gear：
In the case of it is determined that steering wheel generation is shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
7. controller according to claim 5, it is characterised in that first judge module includes：
Receiving submodule, for receiving the revolution signal of steering column；
Judging submodule, it is connected with the receiving submodule, for turning round signal in the high frequency for receiving the steering column
In the case of, determine that high frequency revolution occurs for steering column；
In the case where the high frequency for not receiving the steering column turns round signal, determine that high frequency revolution does not occur for steering column.
8. controller according to claim 7, it is characterised in that the controller also includes：
3rd judge module, obtain module with the rotating speed and the second judge module is connected, for judging mould described second
In the case that block determines that the steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
The execution module is also connected with the 3rd judge module, for it is determined that the situation that the vehicle wheel rotational speed changes
Under, recover the flow of steering liquid flowed in the hydraulic steering gear.
9. a kind of vehicle, it is characterised in that the vehicle includes：
The controller for hydraulic steering gear according to any one of claim 5-8；
Steering column rotation detecting device, it is connected with the controller for hydraulic steering gear, for detecting the steering tube
The revolution signal of post；
Diverted flow amount control device, it is connected with the controller for hydraulic steering gear, for being used for hydraulic pressure according to
The controller of steering gear is controlled to change the flow of the steering liquid flowed in the hydraulic steering gear.
10. vehicle according to claim 9, it is characterised in that the vehicle also includes wheel speed sensors, for detecting car
Wheel speed, and detected vehicle wheel rotational speed is transferred to the controller for being used for hydraulic steering gear.
11. vehicle according to claim 9, it is characterised in that the steering column rotation detecting device, which is provided in, to be turned
Rotation angular sensing inside to the clock spring on tubing string, for sending the steering column revolution signal when clock spring rotates
Device.
12. vehicle according to claim 9, it is characterised in that the diverted flow amount control device is provided in described
Aperture valve on the steering gear oil pipe of hydraulic steering gear, for controlling the logical sectional area of diverted flow in the hydraulic steering gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563048.2A CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563048.2A CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107618566A true CN107618566A (en) | 2018-01-23 |
| CN107618566B CN107618566B (en) | 2019-09-20 |
Family
ID=61087847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610563048.2A Active CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107618566B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979268A (en) * | 2010-09-25 | 2011-02-23 | 合肥工业大学 | Automobile steering wheel shimmy control method |
| CN103118922A (en) * | 2010-08-16 | 2013-05-22 | 克莱斯勒集团有限责任公司 | Vehicle active steering shimmy mitigation |
| CN104627235A (en) * | 2013-11-08 | 2015-05-20 | 福特全球技术公司 | System for compensating for tire windup occurring in road wheels during parking events |
| CN104908807A (en) * | 2015-07-13 | 2015-09-16 | 北汽福田汽车股份有限公司 | Noise and vibration reduction device for steering system |
| US9862411B2 (en) * | 2014-07-30 | 2018-01-09 | Steering Solutions Ip Holding Corporation | Wheel imbalance rejection module |
-
2016
- 2016-07-15 CN CN201610563048.2A patent/CN107618566B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103118922A (en) * | 2010-08-16 | 2013-05-22 | 克莱斯勒集团有限责任公司 | Vehicle active steering shimmy mitigation |
| CN101979268A (en) * | 2010-09-25 | 2011-02-23 | 合肥工业大学 | Automobile steering wheel shimmy control method |
| CN104627235A (en) * | 2013-11-08 | 2015-05-20 | 福特全球技术公司 | System for compensating for tire windup occurring in road wheels during parking events |
| US9862411B2 (en) * | 2014-07-30 | 2018-01-09 | Steering Solutions Ip Holding Corporation | Wheel imbalance rejection module |
| CN104908807A (en) * | 2015-07-13 | 2015-09-16 | 北汽福田汽车股份有限公司 | Noise and vibration reduction device for steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107618566B (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4404700B2 (en) | Electric hydraulic power steering device for vehicles | |
| CN105329317B (en) | Automobile flat tire steering wheel angle limits and minute wheel braking combined control system and method | |
| CN104890722A (en) | Control method of electro-hydraulic power-assisted steering and system for implementing method | |
| KR100767185B1 (en) | Compensating installation for steering angle of car and method thereof | |
| CN111731271A (en) | Control method and system for coping with short obstacle in automatic parking process and vehicle | |
| CN110712678B (en) | Control method of vehicle steering system and vehicle thereof | |
| CN103161869A (en) | Infinite damping shock absorption system | |
| CN102490659A (en) | Automatic adjustment device and method for rearview mirror of automobile | |
| CN204750275U (en) | Electronic power -assisted steering system | |
| CN106004997A (en) | EPS (electric power assisted steering) control device and time delay power assisted control method thereof | |
| CN102069845A (en) | Automobile rollover prevention control system based on electric power steering device | |
| JP2008126752A (en) | Vehicular steering device | |
| CN107618566A (en) | For the control method of hydraulic steering gear, controller and vehicle | |
| CN102001278B (en) | Hybrid power driving system and control method as well as hybrid car with same | |
| JPS62125907A (en) | Variable suspension geometry device | |
| CN110937020A (en) | Electric steering control system suitable for automatic driving automobile | |
| CN116279786A (en) | Control method and control device of steer-by-wire system, storage medium and vehicle | |
| KR101896313B1 (en) | Apparatus of fail safety controlling for variable rack stroke system and method thereof | |
| CN202448849U (en) | Automatic regulating device of automobile rearview mirror | |
| JPH11301507A (en) | Steering control unit for vehicle | |
| KR101306257B1 (en) | Driving Method for Fail Safe Mode of Steering Angle Sensor | |
| CN109515513A (en) | A kind of new-energy automobile steering mechanism | |
| KR100192382B1 (en) | Steering device for vehicles | |
| CN108327782A (en) | A kind of control method of wheel steering system, device and vehicle | |
| KR0147519B1 (en) | Diagnosis method of the actuator defect of the 4-wheel steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181217 Address after: 102206 Beijing Changping District Shahe town Shayang Road, Niu Niu Wan Village North Applicant after: Beiqi Futian Automobile Co., Ltd. Address before: 100102 No.1 Courtyard Building, Futong East Street, Chaoyang District, Beijing Applicant before: Auto (China) Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |