CN108116489A - A kind of ultrasonic motor automobile automatic steering system and automobile self-steering method - Google Patents
A kind of ultrasonic motor automobile automatic steering system and automobile self-steering method Download PDFInfo
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- CN108116489A CN108116489A CN201711188096.9A CN201711188096A CN108116489A CN 108116489 A CN108116489 A CN 108116489A CN 201711188096 A CN201711188096 A CN 201711188096A CN 108116489 A CN108116489 A CN 108116489A
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- voltage
- longitrorse
- motor
- piezoelectric ceramic
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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
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
- B62D5/0415—Electric motor acting on the steering column the axes of motor and steering column being parallel the axes being coaxial
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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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention relates to a kind of ultrasonic motor automobile automatic steering system and automobile self-steering methods, and including turning-bar and at least one ring flange being fixed on turning-bar, ultrasonic wave longitrorse motor is symmetrically arranged in the both sides of ring flange；Ultrasonic wave longitrorse motor is made of cover board, piezoelectric ceramic stack, fluting cutting body and program switching mode power supply module, the present invention realizes the purpose that amplitude is controlled by voltage swing added by change using program switching mode power supply module, by the way that amplitude size is controlled further to control steering and rotational angle, it turns to flexibly and control accuracy is high, its structure and manufacture craft are simple, element used is common, and the holistic cost of steering is relatively low, the steering of different demands can also be obtained by changing the size of new type ultrasonic longitrorse formula motor, suitable for a variety of models.
Description
Technical field
The invention belongs to automobile steering system technical fields, and in particular to a kind of ultrasonic motor automobile auto-steering system
System and automobile self-steering method.
Background technology
In automobile manufacturing field, motor turning is carry in normal driving process in occupation of important position to automobile
It transfers driver and turns to wish, change or keep the direction in vehicle travel process, to ensure normal vehicle operation.It is existing
Steering is different according to energy sources, is broadly divided into two major class of mechanical steering system and power steering system.Manual steering system
System mainly operates steering wheel by driver and is rotated, wherein all force transmission elements are mechanical structure.When steering direction and resistance
The problems such as when larger, driver there is arduously using mechanical steering system, hardly possible operation.And power steering system is by driver
Manipulation direction disk, and generated from power steering apparatus and turned to power, reduce power needed for driver turn so that drive
The person's of sailing operation is light.The power steering system applied now can be divided into hydraulic power-assist steering system by power-assisted source and electronic help
Two major class of power steering, hydraulic power steering system is said adds hydraulic system liquid on the basis of mechanical steering system,
Including devices such as pressure boost pump, hydraulic cylinder, pistons, solve the portability of manipulation and the contradiction of stability well, but it is given birth to
The cost is relatively high for production, and complicated, energy consumption is big, and efficiency is low.It is electric boosted mainly electric by sensor, control unit and power-assisted
The structures such as machine form, solve the problems, such as that hydraulic power steering system is complicated, balance to a certain extent portability and
Sensitivity, but electric booster system still has some problems, such as vehicle transmission than fixing, steering characteristic is vulnerable to
The influence of driver's driving technology.
Driver is depended on for the steering of automobile, it is difficult to realize unmanned or intelligent driving in the prior art
Technology need.
The content of the invention
It is right in the prior art to overcome from alleviation driver's operating burden to adapt to the growing of modern artificial intelligence
The problem of driver needs the moment to hold steering wheel, it is an object of the invention to provide a kind of new type ultrasonic motor automobile certainly
Dynamic steering, with it is safe, operation is light and at low cost, can auto-steering the advantages of, meet artificial intelligence
Demand.
The present invention also provides a kind of automobile realized with above-mentioned ultrasonic motor automobile automatic steering system is automatic simultaneously
Forward method.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of ultrasonic motor automobile automatic steering system including turning-bar 1 and is fixed on turning-bar 1 extremely
Few 1 ring flange 3, ultrasonic wave longitrorse motor 2 is symmetrically arranged in the both sides of ring flange 3；
The ultrasonic wave longitrorse motor 2 is by cover board 21, piezoelectric ceramic stack 22, fluting cutting body 23 and program controlled switch
Power module 24 forms, and cover board 21, piezoelectric ceramic stack 22 and fluting cutting body 23 are sleeved on 1 outside of turning-bar and open successively
Slot cutting body 23 is flexibly connected by bearing 4 with turning-bar 1, and one end of fluting cutting body 23 is contacted with ring flange 3, the other end
It is connected by piezoelectric ceramic stack 22 with cover board 21；Program switching mode power supply module 24 and the positive and negative lead wires electricity of piezoelectric ceramic stack 22
Connection.
It further limits, the rotation direction for being distributed in the ultrasonic wave longitrorse motor 2 of 3 both sides of ring flange is opposite.
It further limits, the fluting cutting body 23 is to close, opened up on the pipe side wall of open at one end along week at one end
To 2 spiral straight slots being mutually parallel are offered, open one end is contacted with ring flange 3, closing one end and piezoelectric ceramic stack 22,
The concatenation of cover board 21 is integrated；Fluting cutting body 23 is driving source with piezoelectric ceramic stack 22, and the longitudinal extension of piezoelectric ceramics can be shaken
Turn turns to the compressional vibration and circumferential twisting vibration along pipe axial direction.
It further limits, 2 spiral straight slot starting points on the fluting cutting body 23 are on same circumference, and in tube wall
On be uniformly distributed, the groove width of spiral straight slot is 2~15mm, and helix angle is 15~45 °, and screw pitch is 50~320mm.
It further limits, the piezoelectric ceramic stack 22 is stacked by 2n pieces piezoelectric ceramic piece and 2n+1 plate electrode pieces interval and set
It puts, n >=1, wherein the 2n electrode slice is connected to positive wire, the 2n+1 electrode slice is connected to negative wire.
It further limits, the thickness of the piezoelectric ceramic piece is 2~10mm.
It further limits, 24 module of program switching mode power supply module includes：
DC/DC conversion circuits, input termination 24V direct currents, are variable DC voltage by the fixation DC conversion of input；
The output terminal of DC/DC conversion circuits is connected with sample circuit；
TL494 pulse-width modulation circuits, including TL494 chips, 1IN- pins and the DA conversion chips of TL494 chips
The OUT pins of MAX517 are connected, and the E1 pins of TL494 chips are connected with the HIN pins of IR2110 driving chips, TL494 chips
1IN+ pins be connected with sample circuit, receive sampling gained voltage, make by adjusting pulse width to adjust duty cycle
Output voltage changes, while plays pressure stabilization function；
Sample circuit is composed in parallel by R2 and R3 divider resistances, the 1IN of sampled output and the comparator of TL494 chips
+ pin is connected；
IR2110 driving circuits, improve TL494 pulse-width modulation circuits driving force, the high-end input of HIN logics with
The E1 pins of TL494 chips are connected, and the high-end outputs of HO are connected with the base stage of the switching tube VT1 of DC/DC conversion circuits, VS pins
It is connected with the collector of switching tube VT1；
Low-voltage power supply circuit receives the 24V DC voltages of input, after C11 capacitor filterings with the Vin of 7805 voltage-stablizers
Input terminal is connected, and 5V voltages supply AT89C51 microcontrollers are exported after 7805 voltage-stablizer voltage stabilizings and are used as operating voltage, through 7815
15V voltages supply TL494 chips are exported after voltage-stablizer voltage stabilizing and are used as operating voltage, voltage-stablizer 7815 is in parallel with voltage-stablizer 7805.
AT89C51 microcontrollers receive the voltage value of keyboard control circuit input, the digital signal of input are converted to mould
Intend signal and be used as reference voltage, TL494 pulse-width modulation circuits are input to together with the feedback signal of sample circuit output sampling
1IN pins automatically adjust the duty cycle of pwm signal, and the P2.1 feet of microcontroller are connected with the SCL feet of DA conversion chips MAX517；
Display circuit is connected with AT89C51 microcontrollers, for showing output voltage values；
Output rectifier and filter is connected with R2, R3 of sample circuit, after C8 filtering and Xiao Te diode voltage stabilizings
Stable voltage is exported after the LC filter circuits filtering of C9, C10, L2 composition supply piezoelectric ceramic stack 22 again；
Automatic transfer switch is connected with the output terminal of output rectifier and filter.
It further limits, the output voltage of 24 module of program switching mode power supply module is adjustable for 100~300 volts.
A kind of automobile self-steering method realized with above-mentioned ultrasonic motor automobile automatic steering system, be with
Program controlled switch electricity module 24 encourages piezoelectric ceramic stack 22, makes the piezoelectric ceramic stack 22 of ultrasonic wave longitrorse motor 2 for driving source, to
Fluting cutting body 23 transfers longitudinal extension vibration, and through slotting, longitudinal extension vibration is converted into along pipe axial direction by cutting body 23
Compressional vibration and circumferentially twisting vibration coupling longitrorse formula vibration, longitrorse formula vibration rotate the ring flange contacted 3,
Turning-bar 1 is driven to rotate；The ultrasonic wave longitrorse motor 2 for being distributed in 3 both sides of ring flange is controlled by program switching mode power supply module 24
Its rotation direction and rotational angle, so as to fulfill automobile auto-steering.
It further limits, is distributed in the ultrasonic wave longitrorse motor 2 of 3 both sides of ring flange respectively according to counterclockwise and clockwise
It rotates round about.The new type ultrasonic motor automobile automatic steering system of the present invention, utilizes two new type ultrasonic longitrorses
Motor 2, turning-bar 1, ring flange 3 and bearing 4 form steering body, due to two new type ultrasonic longitrorse formula motors
The mode of oscillation of longitrorse can be generated by having under the excitation of certain voltage, utilize the upward longitrorse formula of new type ultrasonic longitrorse formula motor
Vibration-extrusion friction drives ring flange 3 to rotate, so that turning-bar 1 rotates, is indulged by upper and lower two new type ultrasonics
Torsion formula motor controls rotation direction suitable, counterclockwise respectively, and in the cover board 21 of upper and lower two novel motors and turning-bar 1
Between assemble bearing 4, reduce part between friction, by program switching mode power supply 24 control up and down two new type ultrasonics indulge
Motor rotation direction and rotational angle are turned round, realizes the work for automatically controlling motor turning.
Compared with prior art, the present invention has the following advantages：
The present invention overcomes the requirement of mechanical steering system and power assist steering to driver, can realize
One key operation of steering, in the case of steering small over long distances, it might even be possible to which autonomous driving vehicle is advanced, and is met artificial
Intelligent demand, in addition, the present invention realizes the mesh that amplitude is controlled by voltage swing added by change using program switching mode power supply module
, further control steering and rotational angle by controlling amplitude size, turn to flexibly and control accuracy is high, structure and
Manufacture craft is simple, and element used is common, and the holistic cost of steering is relatively low, can also be by changing new type ultrasonic
The size of longitrorse formula motor obtains the steering of different demands, suitable for a variety of models.
Description of the drawings
Fig. 1 is the entirety perspective view of the embodiment of the present invention 1；
Fig. 2 is the overall structure sectional view of the embodiment of the present invention 1；
Fig. 3 is the ultrasonic wave longitrorse formula motor body sectional view of the embodiment of the present invention 1；
Fig. 4 is the ultrasonic wave longitrorse formula motor drive end bearing bracket cutting body dimensional structure diagram of the embodiment of the present invention 1.
Fig. 5 is 24 block diagram of program switching mode power supply module of the embodiment of the present invention 1.
Fig. 6 is 24 circuit diagram of program switching mode power supply module of the embodiment of the present invention 1.
Wherein, 1- turning-bars, 2- ultrasonic wave longitrorse motors, 21- cover boards, 22- piezoelectric ceramic stacks, 23- fluting cutting bodies,
24- program switching mode power supply modules, 3- ring flanges, 4- bearings.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
Embodiment 1
Referring to Fig. 1~2, the ultrasonic motor automobile automatic steering system of the present embodiment include turning-bar 1, ring flange 3,
Two 6003 bearings 4 and upper ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2, turning-bar 1 connect with vehicle steering
It connects, is threaded on 1 outer wall of turning-bar, ring flange 3 is welded at the middle part of turning-bar 1, ring flange 3 is concentric column
Structure, inside radius is identical with 1 radius of turning-bar, and the inside radius of 6003 bearings 4 is identical with 1 radius of turning-bar.Upper ultrasonic compressional
It turns round motor 2 and lower ultrasonic wave longitrorse motor 2 and is sleeved on both sides up and down that ring flange 3 is distributed on turning-bar 1 and on ring flange
3 are symmetrically installed, and upper ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2 are lived respectively by 6003 bearings 4 with turning-bar 1
Dynamic connection makes ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2 that can be rotated along turning-bar 1, upper ultrasonic wave longitrorse horse
Up to 2 and lower ultrasonic wave longitrorse motor 2 both ends at fixed by the threaded fasteners such as upper and lower nut and turning-bar 1.
The upper ultrasonic wave longitrorse motor 2 of the present embodiment is identical with the structure of lower ultrasonic wave longitrorse motor 2, as shown in figure 3,
Upper ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2 are by cover board 21, piezoelectric ceramic stack 22, program switching mode power supply mould
Block 24 and fluting cutting body 23 form, and cover board 21, piezoelectric ceramic stack 22 and fluting cutting body 23 are sleeved on turning-bar successively
It is connected on the outside of 1 and by 6003 bearings 4 with turning-bar 1, cover board 21 is the disc structure of steel, is the peace of piezoelectric ceramic stack 22
Dress provides protective effect, and piezoelectric ceramic stack 22 is staggeredly pressed by 4 PZT-4 piezoelectric ceramic pieces and 5 plate electrode pieces, i.e.,
Piezoelectric ceramic stack 22 includes the first electrode piece, the first piezoelectric ceramic piece, second electrode piece, the second piezoelectric ceramics that are sequentially connected in series
Piece, the 3rd electrode slice, the 3rd piezoelectric ceramic piece, the 4th electrode slice, the 4th piezoelectric ceramic piece and the 5th electrode slice, the first pressure
Electroceramics piece, the second piezoelectric ceramic piece, the thickness of the 3rd piezoelectric ceramic piece and the 4th piezoelectric ceramic piece are 2mm, can also
It is selected in the range of 2~10mm.Second electrode piece and the 4th electrode slice are connected to positive wire, first electrode piece, the 3rd electrode
Piece and the 5th electrode slice are connected to negative wire.Positive wire and negative wire respectively with program switching mode power supply module 24
Positive and negative anodes dock, and provide voltage by program switching mode power supply module 24, generate inverse piezoelectric effect.In the longitudinal vibration of piezoelectric ceramic stack 22
Fluting cutting body 23 is installed, as shown in figure 4, fluting cutting body 23 is closing, open at one end at one end on the dynamic direction of propagation
Pipe side wall on open up and circumferentially offer 2 spiral straight slots being mutually parallel, open one end is contacted with ring flange 3, closing
One end is integrated with piezoelectric ceramic stack 22, cover board 21 by being connected the concatenation of bearing 4, i.e. cover board 21, piezoelectric ceramic stack 22 and fluting
Cutting body 23 is flexibly connected radial through bearing 4 with turning-bar 1, and the end of cover board 21 is fixed by nut and turning-bar 1；2
A spiral straight slot starting point is uniformly distributed on same circumference on tube wall, and pipe is made of aluminum material, and outer diameter is
100mm, internal diameter 60mm, blind end base thickness are 10mm, and pipe range 185mm, 2 spiral straight slots are right-hand screw, and screw pitch is
50mm, groove width 5mm, helix angle are 15 °, spiral number of turns 2, and fluting cutting body 23 can be excitation with piezoelectric ceramic stack 22
The longitudinal extension vibration of piezoelectric ceramics is converted into compressional vibration and circumferential twisting vibration along pipe axial direction by source.
Since upper ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2 are symmetrically installed, upper ultrasonic wave longitrorse horse
Fluting cutting body 23 up to 2 is contacted with the upper surface of ring flange 3, the fluting cutting body 23 and flange of lower ultrasonic wave longitrorse motor 2
The lower surface contact of disk 3；The piezoelectric ceramic stack 22 of upper ultrasonic wave longitrorse motor 2 connects with the B ports of program switching mode power supply module 24
It connects, the piezoelectric ceramic stack 22 of lower ultrasonic wave longitrorse motor 2 is connected with the A ports of program switching mode power supply module 24；By program controlled switch
The A of power module 24, B port control the work of ultrasonic wave longitrorse motor 2 and lower ultrasonic wave longitrorse motor 2 respectively.
It should be further noted that the program switching mode power supply module 24 of the present embodiment, is by key-press input voltage
The digital signal of input is converted to feedback signal of the analog signal as reference voltage and then with output sampling by value, microcontroller
The duty cycle of the comparison end automatic adjustment pwm signal of TL494 chips is input to, is exported by output rectifier and filter, so as to
Required stable voltage is obtained, and then realizes by adjusting output voltage that the output of corresponding fluting cutting body 23 is controlled to shake
The rotation direction and angle of width size and then regulating flange disk 3 drive turning-bar 1 to rotate by ring flange 3.Program switching mode power supply mould
Block 24 can be attached with the other component of automobile, and startup power supply can be used.
Referring to Fig. 5, above-mentioned program switching mode power supply module 24 include DC/DC conversion circuits, TL494 pulse-width modulation circuits,
Sample circuit, IR2110 driving circuits, low-voltage power supply circuit, AT89C51 microcontrollers, display circuit, output rectifier and filter
And automatic transfer switch.
DC/DC conversion circuits namely chopper circuit, using Boost boost topologies, by the fixation 24V direct currents of input
Electricity is converted into variable DC voltage；The output terminal of DC/DC conversion circuits is connected with sample circuit.
TL494 pulse-width modulation circuits are to adjust duty cycle output voltage to be made to change and reach by adjusting pulse width
Stablize, including TL494 chips and its outward element, 1 inverting input of comparator (1IN-) and the DA of TL494 chips are converted
Chip MAX517 output terminals (OUT pins) are connected, the E1 output terminals of TL494 chips and the HIN pin phases of IR2110 driving chips
Even, the 1IN+ pins of TL494 chips are connected with sample circuit, receive the voltage of sampling gained, come by adjusting pulse width
Adjustment duty cycle changes output voltage, while plays pressure stabilization function.
Sample circuit is made of R2 and R3 divider resistances, sampling output and the input in the same direction of the comparator 1 of TL494 chips
(1IN+) is held to be connected.
IR2110 driving circuits, improve TL494 pulse-width modulation circuits driving force, its high-end input of HIN logics with
The E1 output terminals of TL494 chips are connected, and the high-end outputs of HO are connected with the base stage of the switching tube VT1 of DC/DC conversion circuits, and VS draws
Foot is connected with the collector of switching tube VT1.
Low-voltage power supply circuit receives the 24V DC voltages of input, after C11 capacitor filterings with the Vin of 7805 voltage-stablizers
Input terminal is connected, and 5V voltages supply AT89C51 microcontrollers are exported after 7805 voltage-stablizer voltage stabilizings and are used as operating voltage, through 7815
15V voltages supply TL494 chips are exported after voltage-stablizer voltage stabilizing and are used as operating voltage, voltage-stablizer 7815 is in parallel with voltage-stablizer 7805.
AT89C51 microcontrollers receive the voltage value of keyboard control circuit input, the digital signal of input are converted to mould
Intend signal and be used as reference voltage, TL494 pulse-width modulation circuits are input to together with the feedback signal of sample circuit output sampling
Compare the duty cycle of end 1IN pins automatic adjustment pwm signal, the P2.1 feet of microcontroller and the SCL feet of DA conversion chips MAX517
It is connected.
Display circuit is connected with AT89C51 microcontrollers, for showing output voltage values；
Output rectifier and filter is made of Schottky diode (rectifying tube) and LC filter circuits, with sample circuit
R2, R3 are connected, defeated after C8 filtering is filtered with the LC filter circuits formed again through C9, C10, L2 after Xiao Te diode voltage stabilizings
Go out the piezoelectric ceramic stack 22 of stable voltage supply ultrasonic wave longitrorse motor 2, output voltage is adjustable between 100~300V.
Automatic transfer switch is connected with the output terminal of output rectifier and filter, is connected to come through two MOSFET pipes
Carry out A, the switching of B ports.
The auto-steering of automobile is realized with above-mentioned ultrasonic motor automobile automatic steering system, specific method is as follows：With journey
It controls Switching Power Supply 24 and encourages piezoelectric ceramic stack 22, make the piezoelectric ceramic stack 22 of ultrasonic wave longitrorse motor 2 for driving source, to fluting
Cutting body 23 transfers longitudinal extension vibration, and through slotting, longitudinal extension is vibrated the longitudinal vibration being converted into along pipe axial direction by cutting body 23
The longitrorse formula vibration that dynamic and circumferentially twisting vibration couples, the vibration of longitrorse formula rotate the ring flange contacted 3, drive
Turning-bar 1 rotates；It is distributed in the B ends that the upper ultrasonic wave longitrorse motor 2 of 3 upside of ring flange passes through program switching mode power supply module 24
Mouth controls it rotationally clockwise and adjusts rotational angle, and the lower ultrasonic wave longitrorse motor 2 for being distributed in 3 downside of ring flange is logical
Cross program-controlled switch power module 24 A port controllings its rotate in an anti-clockwise direction and adjust rotational angle, so as to fulfill automobile from
Turn to.
Embodiment 2
The fluting cutting body 23 of the ultrasonic wave longitrorse motor 2 of the present embodiment be at one end closing, the side of circular pipe of open at one end
It is opened up on wall and circumferentially offers 2 spiral straight slots being mutually parallel, open one end is contacted with ring flange 3, closing one end and pressure
Electroceramics heap 22, cover board 21 are longitudinally fixed by nut, and cover board 21 is flexibly connected radial through bearing 4 with connecting rod 1；2 spiral shells
Straight slot starting point is revolved on same circumference, and is uniformly distributed on tube wall, and pipe is made of aluminum material, and outer diameter is
100mm, internal diameter 60mm, blind end base thickness are 10mm, and pipe range 185mm, 2 spiral straight slots are left-hand screw, and screw pitch is
50mm, groove width 5mm, helix angle are 15 °, spiral number of turns 2, and fluting cutting body 23 can be excitation with piezoelectric ceramic stack 22
The longitudinal extension vibration of piezoelectric ceramics is converted into compressional vibration and circumferential twisting vibration along pipe axial direction by source.
The structure of the connection mode of ultrasonic wave longitrorse motor 2 and turning-bar 1, installation site and ultrasonic wave longitrorse motor 2
It is identical with embodiment 1.
Embodiment 3
On 1/3 node of the turning-bar 1 of the ultrasonic motor automobile automatic steering system of the present embodiment and on 2/3 node
2 ring flanges 3 are respectively welded, ultrasonic wave longitrorse motor 2 is symmetrically installed in the both sides of ring flange 3, i.e., is distributed from top to bottom
There are 3 ultrasonic wave longitrorse motors 2.
2 rotation direction of ultrasonic wave longitrorse motor and rotational angle of the present embodiment can be according to each ultrasonic wave longitrorse motors 2
The adjustable voltage output valve size of program switching mode power supply module 24 determine, it is other on ultrasonic wave longitrorse motor 2 with turning
The structure of connection mode and ultrasonic wave longitrorse motor 2 to bar 1 is identical with embodiment 1.
It should be further noted that the helix angle for cutting body 23 of slotting in above-described embodiment can be in 15~45 ° of scopes
Interior adjustment, screw pitch can adjust in the range of 50~320mm, so as to being converted into the longitudinal extension vibration of piezoelectric ceramics along circle
Subject to the compressional vibration of pipe axial direction and circumferential twisting vibration.
The component connection of each circuit for not being described in detail is to connect in a conventional manner, above-mentioned program controlled switch
Conventional func modular circuit may be employed in each circuit included by power module 24, as long as realizing the work(of its each distribution circuit
Energy.
Claims (10)
1. a kind of ultrasonic motor automobile automatic steering system, which is characterized in that including turning-bar (1) and be fixed on turning-bar
(1) at least one ring flange (3) on is symmetrically arranged with ultrasonic wave longitrorse motor (2) in the both sides of ring flange (3)；
The ultrasonic wave longitrorse motor (2) is by cover board (21), piezoelectric ceramic stack (22), fluting cutting body (23) and program-controlled opens
Powered-down source module (24) composition, cover board (21), piezoelectric ceramic stack (22) and fluting cutting body (23) are sleeved on turning-bar successively
(1) outside and fluting cutting body (23) be flexibly connected by bearing (4) with turning-bar (1), slot cutting body (23) one end and
Ring flange (3) contacts, and the other end is connected by piezoelectric ceramic stack (22) with cover board (21)；Program switching mode power supply module (24) and pressure
The positive and negative lead wires electrical connection of electroceramics heap (22).
2. ultrasonic motor automobile automatic steering system according to claim 1, which is characterized in that be distributed in ring flange
(3) rotation direction of the ultrasonic wave longitrorse motor (2) of both sides is opposite.
3. ultrasonic motor automobile automatic steering system according to claim 1 or 2, which is characterized in that the fluting is cut
Cut body (23) be closing at one end, open at one end pipe side wall on open up and circumferentially offer 2 spirals being mutually parallel and lead to
Slot, open one end are contacted with ring flange (3), and closing one end concatenates and is integrated with piezoelectric ceramic stack (22), cover board (21)；Fluting is cut
Body (23) is cut with piezoelectric ceramic stack (22) as driving source, the longitudinal extension of piezoelectric ceramics can be vibrated and be converted into along pipe axial direction
Compressional vibration and circumferential twisting vibration.
4. ultrasonic motor automobile automatic steering system according to claim 3, which is characterized in that the fluting cutting body
(23) 2 spiral straight slot starting points on are uniformly distributed on same circumference on tube wall, the groove width of spiral straight slot for 2~
15mm, helix angle are 15~45 °, and screw pitch is 50~320mm.
5. ultrasonic motor automobile automatic steering system according to claim 1 or 2, which is characterized in that the piezoelectricity pottery
Porcelain heap (22) is stacked by 2n pieces piezoelectric ceramic piece and 2n+1 plate electrode pieces interval, n >=1, wherein the 2n electrode slice
Positive wire is connected to, the 2n+1 electrode slice is connected to negative wire.
6. ultrasonic motor automobile automatic steering system according to claim 5, which is characterized in that the piezoelectric ceramic piece
Thickness be 2~10mm.
7. ultrasonic motor automobile automatic steering system according to claim 1 or 2, which is characterized in that described program-controlled to open
Powered-down source module (24) module includes：
DC/DC conversion circuits, input termination 24V DC power supplies, are variable DC voltage by the fixation DC conversion of input；DC/
The output terminal of DC conversion circuits is connected with sample circuit；
TL494 pulse-width modulation circuits, including TL494 chips, the 1IN- pins of TL494 chips are with DA conversion chips MAX517's
OUT pins are connected, and the E1 pins of TL494 chips are connected with the HIN pins of IR2110 driving chips, and the 1IN+ of TL494 chips draws
Foot is connected with sample circuit, receives the voltage of sampling gained, makes output voltage by adjusting pulse width to adjust duty cycle
Change, while play pressure stabilization function；
Sample circuit is composed in parallel by R2 and R3 divider resistances, the 1IN+ pins of sampled output and the comparator of TL494 chips
It is connected；
IR2110 driving circuits improve the driving force of TL494 pulse-width modulation circuits, the high-end input of HIN logics and TL494 cores
The E1 pins of piece are connected, and the high-end outputs of HO are connected with the base stage of the switching tube VT1 of DC/DC conversion circuits, VS pins and switching tube
The collector of VT1 is connected；
Low-voltage power supply circuit receives the 24V DC voltages of input, after C11 capacitor filterings with the Vin input terminals of 7805 voltage-stablizers
It is connected, 5V voltages supply AT89C51 microcontrollers is exported after 7805 voltage-stablizer voltage stabilizings and are used as operating voltage, it is steady through 7815 voltage-stablizers
15V voltages supply TL494 chips are exported after pressure and are used as operating voltage, voltage-stablizer 7815 is in parallel with voltage-stablizer 7805.
AT89C51 microcontrollers receive the voltage value of keyboard control circuit input, the digital signal of input are converted to analog signal
As reference voltage, the feedback signal sampled with sample circuit output is input to the 1IN pins of TL494 pulse-width modulation circuits together
The duty cycle of pwm signal is automatically adjusted, the P2.1 feet of microcontroller are connected with the SCL feet of DA conversion chips MAX517；
Display circuit is connected with AT89C51 microcontrollers, for showing output voltage values；
Output rectifier and filter is connected with R2, R3 of sample circuit, is filtered through C8 with being passed through again after Xiao Te diode voltage stabilizings
Stable voltage supply piezoelectric ceramic stack (22) is exported after the LC filter circuits filtering of C9, C10, L2 composition；
Automatic transfer switch is connected with the output terminal of output rectifier and filter.
8. ultrasonic motor automobile automatic steering system according to claim 7, which is characterized in that the program controlled switch electricity
The output voltage of source module (24) module is adjustable for 100~300 volts.
9. a kind of automobile self-steering method realized with ultrasonic motor automobile automatic steering system described in claim 1,
It is characterized in that, with program controlled switch electricity module (24) excitation piezoelectric ceramic stack (22), the piezoelectricity of ultrasonic wave longitrorse motor (2) is made to make pottery
Porcelain heap (22) is driving source, longitudinal extension vibration is transferred to fluting cutting body (23), through cutting body (23) of slotting by longitudinal extension
Vibration is converted into the longitrorse formula coupled along the compressional vibration of pipe axial direction and twisting vibration circumferentially and vibrates, longitrorse formula vibrate make and
Contact ring flange (3) rotate, drive turning-bar (1) rotate；It is distributed in the ultrasonic wave longitrorse motor of ring flange (3) both sides
(2) its rotation direction and rotational angle are controlled by program switching mode power supply module (24), so as to fulfill automobile auto-steering.
10. automobile self-steering method according to claim 9, which is characterized in that be distributed in the super of ring flange (3) both sides
Sound wave longitrorse motor (2) is respectively according to counterclockwise and clockwise rotate round about.
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Citations (5)
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|---|---|---|---|---|
| CN1572622A (en) * | 2003-05-30 | 2005-02-02 | 现代自动车株式会社 | Steering actuator of independent steer-by-wire system |
| JP2006258793A (en) * | 2005-02-16 | 2006-09-28 | Jtekt Corp | Torque detector, and bearing unit for supporting pinion shaft |
| US20080210487A1 (en) * | 2007-03-02 | 2008-09-04 | Delphi Technologies, Inc. | Power steering assembly |
| CN101310433A (en) * | 2005-11-10 | 2008-11-19 | 株式会社丰田自动织机 | Ultrasonic motor |
| CN103283051A (en) * | 2011-01-07 | 2013-09-04 | 佳能株式会社 | Piezoelectric element, liquid discharge head, ultrasonic motor, and dust removing device |
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2017
- 2017-11-24 CN CN201711188096.9A patent/CN108116489B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1572622A (en) * | 2003-05-30 | 2005-02-02 | 现代自动车株式会社 | Steering actuator of independent steer-by-wire system |
| JP2006258793A (en) * | 2005-02-16 | 2006-09-28 | Jtekt Corp | Torque detector, and bearing unit for supporting pinion shaft |
| CN101310433A (en) * | 2005-11-10 | 2008-11-19 | 株式会社丰田自动织机 | Ultrasonic motor |
| US20080210487A1 (en) * | 2007-03-02 | 2008-09-04 | Delphi Technologies, Inc. | Power steering assembly |
| CN103283051A (en) * | 2011-01-07 | 2013-09-04 | 佳能株式会社 | Piezoelectric element, liquid discharge head, ultrasonic motor, and dust removing device |
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| CN108116489B (en) | 2019-06-18 |
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