CN107792168B - Sleeve motor steer-by-wire device and control method - Google Patents
Sleeve motor steer-by-wire device and control method Download PDFInfo
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- CN107792168B CN107792168B CN201710880859.XA CN201710880859A CN107792168B CN 107792168 B CN107792168 B CN 107792168B CN 201710880859 A CN201710880859 A CN 201710880859A CN 107792168 B CN107792168 B CN 107792168B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 230000005540 biological transmission Effects 0.000 claims abstract description 62
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 15
- 238000005516 engineering process Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 241000826860 Trapezium Species 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
- B62D5/0433—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention discloses a sleeve motor drive-by-wire steering device and a control method, wherein the drive-by-wire steering device comprises a steering wheel, a steering column connected with the steering wheel, a left wheel steering transmission mechanism connected with left wheels, a right wheel steering transmission mechanism connected with right wheels, and a mechanical steering transmission mechanism connected with the steering column through an electromagnetic clutch, the steering column is connected with a road sensing/power assisting motor through a speed reducer, the steering device further comprises a drive-by-wire steering executing mechanism, and the drive-by-wire steering executing mechanism comprises a first sleeve motor, a second sleeve motor and a planetary roller screw mechanism driven by the first sleeve motor and/or the second sleeve motor. The invention adopts the double-sleeve motor and the planetary roller screw mechanism, fully utilizes the axial space of the rack and the transverse pull rod protective sleeve to reduce the radial size of the motor, has high transmission efficiency, and is easy to improve the driving consistency of the double-sleeve motor during heavy load work.
Description
Technical Field
The invention relates to the technical field of automobile parts, in particular to an automobile steering-by-wire technology.
Background
Automobile intellectualization is rapidly developing, and steering-by-wire is a key link in the automobile intellectualization development process, especially one of the necessary technologies for unmanned driving. Steering-by-wire technology is gradually mature and has been applied to a small number of vehicle types. The steer-by-wire system is required to have redundancy and fault tolerance functions, not only is a diagnosis and fault tolerance control algorithm realized on software, but also hardware is required to be subjected to redundancy design, so that the hardware arrangement of the steer-by-wire system is complex, the cost is high, and the hardware utilization rate is low.
At present, a lot of steer-by-wire technology researches exist, wherein a dual-motor redundant steer-by-wire system designed by Infeinidi corporation is successfully applied to Q50 real vehicles, motor tachometers are respectively designed at the left end and the right end of a rack to drive steering gears to drive the rack to move left and right, a clutch is closed when the rack fails, the steering gears at the left side are connected with a mechanical steering column to realize steering, but the redundant structure of the system is complex, and the dual motors are driven by a speed reducer to steer a tie rod through a rack-and-pinion steering gear, so that the transmission efficiency is low. Korean modern automobile company proposed a steer-by-wire apparatus and method of a double motor-driven rack (patent No. US201600144890 A1), which did not solve the motor space installation problem and the double motor failure steering mode. Becker et al propose an electrically controlled hydraulic steer-by-wire system (patent number US20160068182A 1), the device controls the pressure of the steering wheel cylinder through two paths of motor pumps, and drives the tie rods at two sides to move left and right, but the response speed of the motor to establish the hydraulic pressure is slow, unreliable factors such as oil leakage, bubbles and the like are increased in a high-pressure oil pipeline, and direct mechanical connection after the steer-by-wire failure cannot be realized. A hybrid type linear steering system (patent number 201610989594.2) of the invention of Yanglin and the like is characterized in that a road sensing motor and a power-assisted motor are separated, a set of steering execution motor is used for driving a double-row planetary gear reducer, a transverse pull rod is driven to move left and right through a worm rack, a real-time controllable force transmission characteristic and an angle transmission characteristic are provided between a steering wheel and a steering wheel, and the system is restored to a mechanical steering state through a clutch when the system fails, but the system is complex in structure and low in transmission efficiency. The steering system and the control method of the electric automobile are designed in a lace-up manner (patent number 201310649410.4), the system designs a steering wheel force feedback motor and a worm reducer to simulate road feel, the steering motor and a planetary gear reducer drive a steering gear pinion to realize steering, the motor and the planetary gear reducer are additionally arranged near the steering gear, more arrangement space is required to be occupied, the working efficiency of the motor is reduced through the transmission of a rack-and-pinion steering gear, and a steering mode of failure of the motor cannot be realized.
In summary, the existing steer-by-wire system has the contradiction between low transmission efficiency, complex structure, difficult spatial arrangement and redundant and invalid working mode requirements.
Disclosure of Invention
The invention aims to solve the technical problem of providing the sleeve motor wire steering device which has the advantages of compact structure, high transmission efficiency and reliable steering.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a sleeve motor drive-by-wire steering device, includes steering wheel, the steering column that is connected with the steering wheel, the left side wheel steering drive mechanism that is connected with left side wheel, the right side wheel steering drive mechanism that is connected with right side wheel to and the mechanical steering drive mechanism that is connected with steering column through electromagnetic clutch, steering column is connected with the feel/helping hand motor through the reduction gear, steering device still includes drive-by-wire steering actuating mechanism, drive-by-wire steering actuating mechanism includes first sleeve motor, second sleeve motor, the planetary roller screw mechanism that is driven by first sleeve motor and/or second sleeve motor, under electromagnetic clutch actuation state, mechanical steering drive mechanism drive left side wheel steering drive mechanism and right side wheel steering drive mechanism are moved thereby drive left side wheel and right side wheel and are rotated, under electromagnetic clutch off state, planetary roller screw mechanism drive left side wheel steering drive mechanism and right side wheel steering drive mechanism are moved thereby drive left side wheel and right side wheel rotate.
Preferably, the planetary roller screw mechanism comprises a screw, a gear roller meshed with the screw, and a first annular gear and a second annular gear meshed with the gear roller at the same time.
Preferably, the first annular gear is integrally formed with the first sleeve motor rotor, and the second annular gear is integrally formed with the second sleeve motor rotor.
Preferably, the mechanical steering transmission mechanism comprises a steering pinion and a rack which are meshed and transmitted, and the steering pinion is connected with the steering column through an electromagnetic clutch.
Preferably, the left wheel steering transmission mechanism comprises a left tie rod connected with the rack, a left trapezoid arm connected with the left tie rod and a left steering knuckle connected with the left trapezoid arm, the left steering knuckle is connected with the left wheel, the right wheel steering transmission mechanism comprises a right tie rod connected with the rack, a right trapezoid arm connected with the right tie rod and a right steering knuckle connected with the right trapezoid arm, and the right steering knuckle is connected with the right wheel.
The invention also provides a sleeve motor drive-by-wire steering control method, which comprises the following working modes:
first, a steering-by-wire mode of low-speed driving in an automobile:
the electromagnetic clutch is disconnected, the electric control unit controls the first sleeve motor and the second sleeve motor to rotate positively, the left wheel and the right wheel are driven to rotate through the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, the steering intention of a driver is realized, and meanwhile, the electric control unit controls the road sense/power-assisted motor to rotate positively, so that the proper road sense of the driver is provided;
secondly, a steering-by-wire mode of high-speed running of the automobile:
the electromagnetic clutch is disconnected, the electric control unit controls the first sleeve motor to forward drive, the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism drive the left wheel and the right wheel to rotate, the steering intention of a driver is realized, the electric control unit controls the second sleeve motor to reverse, a high-speed steering damping force is provided, the high-speed running stability of the automobile is ensured, the electric control unit controls the road sense/booster motor to forward rotate, and the appropriate road sense of the driver is provided;
third, steer-by-wire redundancy mode:
when the electromagnetic clutch is disconnected, the electric control unit diagnoses that one sleeve motor works abnormally, cuts off the power supply of the abnormal motor, controls the normal working sleeve motor to rotate positively, drives the left wheel and the right wheel to rotate through the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, realizes the steering intention of a driver, controls the road sense/power-assisted motor to rotate positively, and provides the driver with proper road sense;
fourth, steer-by-wire failure mode:
the electromagnetic clutch is closed, the electric control unit cuts off the power supply of the first sleeve motor and the second sleeve motor, the electric control unit controls the road sense/power assisting motor to reversely rotate, steering power is provided, and the left wheel and the right wheel are driven to rotate through the mechanical steering transmission mechanism and the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, so that the steering intention of a driver is realized.
The invention adopts the technical scheme and has the following beneficial effects:
1. compact structure, easily arrange: the invention adopts the double sleeve motor and the planetary roller screw mechanism, fully utilizes the axial space of the rack and the tie rod protective sleeve to reduce the radial size of the motor, does not increase the motor speed reducing mechanism near the steering gear, and can follow the traditional mechanical steering system arrangement mode;
2. the transmission efficiency is high: the planetary roller screw mechanism is adopted, so that the transmission efficiency is high, the driving consistency of the double-sleeve motor is easy to improve when the heavy load works, the rack and the steering tie rod do not need to be directly driven by a steering gear, and the transmission efficiency can also be improved;
3. high-speed running is stable: the steering damping device can control the accurate displacement of the rack to ensure the stability of the steering-by-wire process, and the second sleeve motor reversely rotates to provide the steering damping force when the automobile runs at a high speed, so that the steering stability of the automobile is improved;
4. the steering is reliable: the invention adopts the double sleeve motor to realize hardware structural redundancy, and the electromagnetic clutch and the steering pipe column realize mechanical steering when the line control fails, thereby ensuring the reliability of the steering system.
Drawings
The invention is further described with reference to the drawings and detailed description which follow:
FIG. 1 is a schematic illustration of a sleeve motor steer-by-wire apparatus of the present invention;
FIG. 2 is a schematic illustration of a steering-by-wire actuator in a sleeve motor steering-by-wire apparatus of the present invention;
fig. 3 is a flowchart of a sleeve motor steer-by-wire control method of the present invention.
In the figure, 1-steering wheel, 2-steering wheel sensor, 3-steering column, 4-decelerator, 5-electromagnetic clutch, 6-electric control unit, 7-road sense/booster motor, 8-left side wheel, 9-left knuckle, 10-left trapezium arm, 11-left tie rod, 12-rack, 13-steering pinion, 14-steer-by-wire actuator, 15-first sleeve motor, 16-lead screw, 17-planetary roller screw mechanism, 18-second sleeve motor, 19-right tie rod, 20-right trapezium arm, 21-right knuckle, 22-right side wheel, 23-stator coil of first sleeve motor, 24-first sleeve motor rotor, 25-first inner gear ring, 26-gear roller, 27-stator coil of second sleeve motor, 28-second sleeve motor rotor, 29-second inner gear ring.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An automobile steering device as shown in fig. 1 and 2 comprises a steering wheel 1, a steering wheel sensor 2 and a steering column 3 connected with the steering wheel 1, a left wheel steering transmission mechanism connected with left wheels 8, a right wheel steering transmission mechanism connected with right wheels 22, and a mechanical steering transmission mechanism connected with the steering column 3 through an electromagnetic clutch 5, wherein the steering column 3 is connected with a road sensing/power assisting motor 7 through a speed reducer 4.
The motor vehicle steering system further comprises a steer-by-wire actuator 14. The steering-by-wire actuator 14 comprises a first sleeve motor 15, a second sleeve motor 18 and a planetary roller screw mechanism 17 driven by the first sleeve motor 15 and/or the second sleeve motor 18, wherein in the attraction state of the electromagnetic clutch 5, the mechanical steering transmission mechanism drives the left wheel steering transmission mechanism and the right wheel steering transmission mechanism to act so as to drive the left wheel 8 and the right wheel 22 to rotate, and in the disconnection state of the electromagnetic clutch 5, the mechanical steering transmission mechanism does not act with the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, and the planetary roller screw mechanism 17 drives the left wheel steering transmission mechanism and the right wheel steering transmission mechanism to act so as to drive the left wheel 8 and the right wheel 22 to rotate.
In the present embodiment, the planetary roller screw mechanism 17 includes a screw 16, a gear roller 26 meshed with the screw 16, and first and second ring gears 25, 29 simultaneously meshed with the gear roller 26. The first sleeve motor 15 comprises a stator coil 23 of the first sleeve motor and a first sleeve motor rotor 24. The second sleeve motor 18 comprises a second sleeve motor stator coil 27 and a second sleeve motor rotor 28. Furthermore, the first ring gear 25 is made integral with the first sleeve motor rotor 24, and the second ring gear 29 is made integral with the second sleeve motor rotor 28, to facilitate later assembly.
The mechanical steering transmission mechanism comprises a steering pinion 13 and a rack 12 which are in meshed transmission, the steering pinion 13 is connected with the steering column 3 through an electromagnetic clutch 5, the left wheel steering transmission mechanism comprises a left tie rod 11 connected with the rack 12, a left trapezoid arm 10 connected with the left tie rod 11 and a left knuckle 9 connected with the left trapezoid arm 10, the left knuckle 9 is connected with a left wheel 8, the right wheel steering transmission mechanism comprises a right tie rod 19 connected with the rack 12, a right trapezoid arm 20 connected with the right tie rod 19 and a right knuckle 21 connected with the right trapezoid arm 20, the right knuckle 21 is connected with a right wheel 22, and the rack 12 is connected with a lead screw 16.
In addition, based on the above-mentioned automobile steer-by-wire device, the invention also provides a corresponding steer-by-wire control method, as shown in fig. 3, an Electronic Control Unit (ECU) 6 collects the torque and rotation angle signals, the vehicle speed signals, the yaw rate signals and the rack displacement signals of a steering wheel sensor 2, and carries out system fault diagnosis according to the steering wheel rotation angle, the rack displacement and the motor current to judge whether faults exist, if single motor faults exist, which motor faults need to be given or faults exist in two motors to enter a steer-by-wire redundancy mode and a steer-by-wire failure mode respectively; if the motor state is normal, respectively entering a vehicle middle-low speed driving steer-by-wire mode and a vehicle high speed driving steer-by-wire mode according to whether the vehicle speed reaches 80 km/h. Therefore, the steering-by-wire control method provided by the invention comprises the following working modes:
1. steering-by-wire mode for low-speed driving in an automobile:
the electronic control unit 6 gives an instruction to disconnect the electromagnetic clutch 5. The electronic control unit 6 recognizes the steering intention of the driver through the steering wheel angle and torque signals, calculates the driving current of the sleeve motor by using the displacement of the rack 12 as a feedback signal and applying the automobile dynamics theory according to the vehicle speed and the yaw rate, and equally inputs the driving current to the stator coil 23 of the first sleeve motor and the stator coil 27 of the second sleeve motor, so that the first sleeve motor rotor 24 drives the first ring gear 25 integrally manufactured to rotate in a forward direction, and the second sleeve motor rotor 28 drives the second ring gear 29 integrally manufactured to rotate in a forward direction, and simultaneously provides the steering moment. The first inner gear ring 25 and the second inner gear ring 29 simultaneously drive the gear roller 26 to rotate, and the screw 16 which is equivalent to the sun gear of the planetary reducer does not rotate in the circumferential direction and can be regarded as fixed, so that the motor moment is output by the gear roller 26 after being decelerated and moment-increased by the planetary roller screw mechanism 17, the rotation of the gear roller 26 is converted into the translation of the screw 16, the left side drives the left wheel 8 to rotate through the rack 12, the left tie rod 11, the left trapezoid arm 10 and the left knuckle 9, and the right side drives the right wheel 22 to rotate through the right tie rod 19, the right trapezoid arm 20 and the right knuckle 21. Meanwhile, the electric control unit 6 estimates the rack force according to the displacement of the rack 12, calculates the aligning moment and the current required by the road feel, controls the current of the road feel/power-assisted motor 7 and provides the steering road feel for the driver.
2. Steering-by-wire mode of high-speed driving of automobile:
the electronic control unit 6 gives an instruction to disconnect the electromagnetic clutch 5. The electric control unit 6 recognizes the steering intention of the driver through the steering wheel angle and torque signals, calculates the driving current of the sleeve motor and the current required by the damping force according to the vehicle dynamics theory applied by the vehicle speed and the yaw rate by taking the displacement of the rack 12 as a feedback signal, and inputs the driving current and the current required by the damping force to the stator coil 23 of the first sleeve motor and the stator coil 27 of the second sleeve motor respectively, so that the first sleeve motor rotor 24 drives the first inner gear ring 25 which is integrally manufactured to forward rotate to provide steering torque, and the second sleeve motor rotor 28 drives the second inner gear ring 29 which is integrally manufactured to reversely rotate to provide damping force. The first inner gear ring 25 drives the gear roller 26 to rotate, the second inner gear ring 29 can serve as load limiting steering overshoot, namely, the motor torque is output by the gear roller 26 after being decelerated and increased by the planetary roller screw mechanism 17, the rotation of the gear roller 26 is converted into the translation of the screw 16, the left side drives the left wheel 8 to rotate through the rack 12, the left tie rod 11, the left trapezoid arm 10 and the left steering knuckle 9, and the right side drives the right wheel 22 to rotate through the right tie rod 19, the right trapezoid arm 20 and the right steering knuckle 21. Meanwhile, the electric control unit 6 estimates the rack force according to the displacement of the rack 12, calculates the aligning moment and the current required by the road feel, controls the current of the road feel/power-assisted motor 7 and provides the steering road feel for the driver.
3. Steer-by-wire redundancy mode:
when the electric control unit 6 diagnoses that one sleeve motor works abnormally, the power supply of the abnormal motor is cut off, and the normal working sleeve motor is controlled to rotate positively.
A failure of the first sleeve motor 15 is exemplified. The electronic control unit 6 gives an instruction to disconnect the electromagnetic clutch 5 and to de-energize the first sleeve motor 15. The electric control unit 6 recognizes the steering intention of the driver through the steering wheel angle and torque signals, calculates the current of the second sleeve motor 18 according to the vehicle speed and yaw rate by using the displacement of the rack 12 as a feedback signal and applying the vehicle dynamics theory, and inputs the current into the stator coil 27 of the second sleeve motor, and then the second sleeve motor rotor 28 drives the integrally manufactured second annular gear 29 to rotate positively to provide steering torque. The second inner gear ring 29 drives the gear roller 26 to rotate, namely, the motor torque is output by the gear roller 26 after being reduced and increased by the planetary roller screw mechanism 17, the rotation of the gear roller 26 is converted into the translation of the screw 16, the left side drives the left wheel 8 to rotate by the rack 12, the left tie rod 11, the left trapezoid arm 10 and the left steering knuckle 9, and the right side drives the right wheel 22 to rotate by the right tie rod 19, the right trapezoid arm 20 and the right steering knuckle 21. Meanwhile, the electric control unit 6 estimates the rack force according to the displacement of the rack 12, calculates the aligning moment and the current required by the road feel, controls the current of the road feel/power-assisted motor 7 and provides the steering road feel for the driver.
4. Steer-by-wire failure mode:
when the power failure fails, the electromagnetic clutch 5 is normally closed and engaged, the steering column 3 and the steering pinion 13 are mechanically connected through the electromagnetic clutch 5, and the steer-by-wire system is restored to the traditional mechanical steering system. When both motors fail or the sensor fails, the electric control unit 6 gives an instruction, the electromagnetic clutch 5 is powered off and engaged, and the first sleeve motor 15 and the first sleeve motor 18 are powered off. The electric control unit 6 calculates the current required by assistance through a steering wheel angle/torque signal and a vehicle speed signal, controls the reverse current of the road feel/assistance motor 7, and drives the speed reducer 4 to provide steering assistance. The steering torque of a driver is overlapped with the power-assisted torque of a road sense/power-assisted motor 7 through a steering wheel 1 to a steering column 3, and is transmitted to a steering pinion 13 through an electromagnetic clutch 5 to drive a rack 12 to drive a left wheel 8 to rotate through a left tie rod 11, a left trapezoid arm 10 and a left steering knuckle 9, and the right side drives a right wheel 22 to rotate through a lead screw 16, a right tie rod 19, a right trapezoid arm 20 and a right steering knuckle 21.
Meanwhile, it is further required to explain that the invention provides a corresponding steer-by-wire control method based on the sleeve motor steer-by-wire device, wherein how to calculate ideal rack displacement from steering wheel angle, torque, vehicle speed and yaw rate, how to control the current magnitude of the first sleeve motor and the second sleeve motor, how to control the current magnitude of the road sense/assist motor to provide proper road sense for a driver, and those skilled in the art can perform specific study and calculation according to the disclosure of the invention and with reference to specific vehicle type parameters.
Since the gear roller 26 does not translate, but only rotates, the displacement of the rack 12 is equal to the displacement of the lead screw 16, and therefore, the displacement of the rack 12 can be obtained by measuring the rotation angle of the ring gear.
In addition, the electronic control unit 6 collects torque and rotation angle signals, vehicle speed signals, yaw rate signals and rack displacement signals of the steering wheel sensor 2, and performs system fault diagnosis according to steering wheel rotation angles, rack displacement and motor current to judge whether the sleeve motor has faults, which belongs to conventional technical means in the art and is not described herein.
In the present embodiment, the critical point between low speed running and high speed running of the automobile is 80km/h, however, it will be understood by those skilled in the art that a certain degree of increase or decrease may be performed in practice.
In addition to the above preferred embodiments, the present invention has other embodiments, and various changes and modifications may be made by those skilled in the art without departing from the spirit of the invention, which shall fall within the scope of the invention as defined in the appended claims.
Claims (5)
1. A sleeve motor steer-by-wire control method, which controls a sleeve motor steer-by-wire device, the steering device comprises a steering wheel, a steering column connected with the steering wheel, a left wheel steering transmission mechanism connected with left wheels, a right wheel steering transmission mechanism connected with right wheels, and a mechanical steering transmission mechanism connected with the steering column through an electromagnetic clutch, the steering column is connected with a road feel/power-assisted motor through a speed reducer, the steering device also comprises a steer-by-wire executing mechanism, the steer-by-wire executing mechanism comprises a first sleeve motor, a second sleeve motor and a planetary roller screw mechanism driven by the first sleeve motor and/or the second sleeve motor, the mechanical steering transmission mechanism drives the left wheel steering transmission mechanism and the right wheel steering transmission mechanism to act so as to drive the left wheels and the right wheels to rotate in an electromagnetic clutch suction state, and the planetary roller screw mechanism drives the left wheel steering transmission mechanism and the right wheel steering transmission mechanism to act so as to drive the left wheels and the right wheels to rotate in an electromagnetic clutch suction state;
the control method is characterized by comprising the following working modes:
first, a steering-by-wire mode of low-speed driving in an automobile:
the electromagnetic clutch is disconnected, the electric control unit controls the first sleeve motor and the second sleeve motor to rotate positively, the left wheel and the right wheel are driven to rotate through the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, the steering intention of a driver is realized, and meanwhile, the electric control unit controls the road sense/power-assisted motor to rotate positively, so that the proper road sense of the driver is provided;
secondly, a steering-by-wire mode of high-speed running of the automobile:
the electromagnetic clutch is disconnected, the electric control unit controls the first sleeve motor to forward drive, the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism drive the left wheel and the right wheel to rotate, the steering intention of a driver is realized, the electric control unit controls the second sleeve motor to reverse, a high-speed steering damping force is provided, the high-speed running stability of the automobile is ensured, the electric control unit controls the road sense/booster motor to forward rotate, and the appropriate road sense of the driver is provided;
third, steer-by-wire redundancy mode:
when the electromagnetic clutch is disconnected, the electric control unit diagnoses that one sleeve motor works abnormally, cuts off the power supply of the abnormal motor, controls the normal working sleeve motor to rotate positively, drives the left wheel and the right wheel to rotate through the planetary roller screw mechanism, the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, realizes the steering intention of a driver, controls the road sense/power-assisted motor to rotate positively, and provides the driver with proper road sense;
fourth, steer-by-wire failure mode:
the electromagnetic clutch is closed, the electric control unit cuts off the power supply of the first sleeve motor and the second sleeve motor, the electric control unit controls the road sense/power assisting motor to reversely rotate, steering power is provided, and the left wheel and the right wheel are driven to rotate through the mechanical steering transmission mechanism and the left wheel steering transmission mechanism and the right wheel steering transmission mechanism, so that the steering intention of a driver is realized.
2. The sleeve motor steer-by-wire control method of claim 1, wherein: the planetary roller screw mechanism comprises a screw, a gear roller meshed with the screw, and a first annular gear and a second annular gear meshed with the gear roller.
3. The sleeve motor steer-by-wire control method of claim 2, wherein: the first annular gear is integrated with the first sleeve motor rotor, and the second annular gear is integrated with the second sleeve motor rotor.
4. The sleeve motor steer-by-wire control method of claim 1, wherein: the mechanical steering transmission mechanism comprises a steering gear pinion and a rack which are in meshed transmission, and the steering gear pinion is connected with a steering column through an electromagnetic clutch.
5. The sleeve motor steer-by-wire control method of claim 4, wherein: the left side wheel steering transmission mechanism comprises a left transverse pull rod connected with the rack, a left trapezoid arm connected with the left transverse pull rod, and a left steering knuckle connected with the left trapezoid arm, wherein the left steering knuckle is connected with the left side wheel, the right side wheel steering transmission mechanism comprises a right transverse pull rod connected with the rack, a right trapezoid arm connected with the right transverse pull rod, and a right steering knuckle connected with the right trapezoid arm, and the right steering knuckle is connected with the right side wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880859.XA CN107792168B (en) | 2017-09-26 | 2017-09-26 | Sleeve motor steer-by-wire device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880859.XA CN107792168B (en) | 2017-09-26 | 2017-09-26 | Sleeve motor steer-by-wire device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107792168A CN107792168A (en) | 2018-03-13 |
| CN107792168B true CN107792168B (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710880859.XA Active CN107792168B (en) | 2017-09-26 | 2017-09-26 | Sleeve motor steer-by-wire device and control method |
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Address after: 311258 No. 28, Xiangshan Road, Wenyan street, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant after: ZHEJIANG WANDA STEERING GEAR Co.,Ltd. Applicant after: Nanjing University of Aeronautics and Astronautics Address before: No.28 Xiangshan Road, Wenyan Town, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: ZHEJIANG WANDA STEERING GEAR CO.,LTD. Applicant before: Nanjing University of Aeronautics and Astronautics |
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