CN108372883B - Magnetorheological fluid rotates torsional spring power sense feedback device and its application method - Google Patents
Magnetorheological fluid rotates torsional spring power sense feedback device and its application method Download PDFInfo
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- CN108372883B CN108372883B CN201810409798.3A CN201810409798A CN108372883B CN 108372883 B CN108372883 B CN 108372883B CN 201810409798 A CN201810409798 A CN 201810409798A CN 108372883 B CN108372883 B CN 108372883B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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Abstract
The invention discloses a kind of magnetorheological fluid rotation torsional spring power sense feedback device and its application methods, and it includes power sense simulation system, power sense control system, aligning torque generation system, damping torque generation system and power supply system that magnetorheological fluid, which rotates torsional spring power sense feedback device,.Aligning torque and damping torque in magnetorheological fluid rotation torsional spring power sense feedback device of the invention are controlled respectively, are eliminated the irregularity and delay feature of traditional torque motor control, and motor application common DC motor, are reduced the cost of device.
Description
Technical field
The invention belongs to automobile electrically-controlled and technical field of intelligence, are related to a kind of magnetorheological fluid rotation torsional spring power sense feedback device
And its application method.
Background technique
Conventional truck actual road test is at high cost, the time is long, site condition is limited and accident easily occurs for limiting condition
The disadvantages of, it is current main trend using Vehicle driving simulator substitution conventional truck actual road test.Mature driving mould
Quasi- system can more be truly reflected out state of motion of vehicle, road conditions, ambient enviroment and various body-sensings, power sense, greatly
Ground reduces vehicle road test fund cost, time cost and human cost.Wherein accurate steering wheel sense feedback be must
Indispensable, can be largely fixed driver make corresponding behaviour according to given route or driving intention
Make, it is most important to the operation decision of driver.The main deceleration mechanism group with torque motor of traditional power sense feedback device
At torque motor directly exports feedback moment, needs to control size and the direction of feedback moment simultaneously, and it is uneven to there is control
It is suitable, delay and jitter is big, mechanical connecting device is complicated and is easy to appear the disadvantages of motor is stuck.
Magnetorheological fluid is a kind of intellectual material, is to disperse non magnetic liquid (mineral for the magnetic polarization particle of micron-scale
Oil, silicone oil etc.) in formed suspension.Magnetorheological fluid can flow freely under zero magnetic field conditions, show Newtonian fluid
Behavior, apparent viscosity very little；Several quantity can be increased in short time (Millisecond) interior apparent viscosity under the action of an external magnetic field
Grade or more, and class solid property is presented, there is certain anti-shearing yield stress, and this variation be it is continuous, reversible,
It is restored to original flow regime again after removing magnetic field, and this characteristic is influenced very by extraneous other factors (such as temperature)
It is small.The magnetic rheology effect of magnetorheological fluid provides broad application prospect in engineering for it in practice.
Summary of the invention
To achieve the above object, the present invention provides a kind of magnetorheological fluid rotation torsional spring power sense feedback device and its user
Method solves size and direction that power sense feedback device traditional in the prior art needs while controlling feedback moment, exists
Control irregularity, delay and jitter is big, mechanical connecting device is complicated and is easy to appear the stuck problem of motor.
The technical scheme adopted by the invention is that magnetorheological fluid rotates torsional spring power sense feedback device, including bracket, bracket according to
Secondary to be equipped with the support of bearing, corner and torque sensor, magnet exciting coil sleeve and motor, steering column connects by the way that steering stem bearing is fixed
Connect on the support of bearing, one end of steering column and steering wheel are rigidly connected, the other end of steering column by shaft coupling and corner and
One end of torque sensor connects；The other end of corner and torque sensor is connected by shaft coupling with internal rotor, internal rotor
It is placed in magnet exciting coil sleeve, torsional spring shifting part is fixedly connected on the support of bearing of bracket by bearing, and internal rotor passes through connection
Axis device and torsional spring shifting part are rigidly connected, and the terminal of two torsional springs is in contact with torsional spring shifting part respectively, and torsional spring worm gear passes through key
It is rigidly connected respectively with the beginning of two torsional springs, motor worm engages connection, the output of motor worm and motor with torsional spring worm gear
End is connected；Internal rotor is connected by two inner rotor bearings with magnet exciting coil sleeve, in magnet exciting coil sleeve and internal rotor
There is magnetorheological fluid in portion, is equipped with sealing ring at internal rotor both ends and magnet exciting coil sleeve connection；Corner and torque sensor pass through letter
Number line is connect with power sense controller and magnetorheological fluid controller respectively, and power sense controller passes through signal wire and electric machine controller, magnetic
Rheology fluid controller is connected, and electric machine controller is successively connected with motor driver, motor by signal wire, magnetorheological hydraulic control
Device processed is successively connected with current feedback circuit, magnet exciting coil sleeve by signal wire.
Further, the torsional spring two are different rotation directions.
Further, power supply by supply lines respectively with corner and torque sensor, motor, power sense controller, motor control
Device processed, motor driver, magnetorheological fluid controller, current feedback circuit are connected.
Further, the torsional spring shifting part is rotated by bearing and the support of bearing around own axes.
Further, the torsional spring worm gear is rotated around own axes.
Further, the internal rotor is any one of drum-type internal rotor or stacked internal rotor.
Another technical solution adopted in the present invention is that the user of magnetorheological fluid rotation torsional spring power sense feedback device
Method specifically follows the steps below:
Step 1: the size of the steering wheel rotation in driving procedure, corner and torque sensor detection direction disk corner with
And direction and signal being transmitted to power sense controller, aligning torque is by Kingpin inclination aligning torque MAWith pneumatic trail aligning torque MY
Composition, MA=QDsin β sin δ, Q=mgb/L, wherein MAFor Kingpin inclination aligning torque, Q is tyre load, and D is in stub
Distance is moved, β is kingpin inclination, and δ is front wheel angle, and m is vehicle mass, and g is acceleration of gravity, and b is vehicle centroid to rear axle
Distance, L is wheelbase；MY=FY(ξ '+ξ "),Wherein, MYIt is returned just for pneumatic trail
Torque, FYFor lateral force, ξ ' is pneumatic trail, and ξ " is hypsokinesis drag, and v is speed, and R is turning radius, k2It is rolled for rear-wheel rigid
Degree, k1For incline of front wheels rigidity, a is distance of the vehicle centroid to front axle, damping torque MD=Bs·δs+Q·f·sign(δs),
Wherein, BsIt converts for steering system to the damped coefficient of steering column；δsFor steering wheel angle；F is tire and ground friction coefficient；
Sign expression takes symbolic operator；Wherein, M1It is returned just for theory orientation disk
Torque, theory orientation disk aligning torque are contrary with steering wheel angle；M2For theory orientation damping torque, theory orientation damping
Torque is opposite with steering wheel rotation direction；I is steering system transmission ratio；P is force aid system power-assisted coefficient；Power sense controller passes through
The size and telegoniometer of corner calculate the theory orientation disk torque that feed back to driver, and theory orientation disk torque is divided into
Theory orientation disk aligning torque and theory orientation damping torque control respectively, and power sense controller is by theory orientation disk aligning torque
Size and Orientation passes to electric machine controller, and the size of theory orientation damping torque is passed to magnetorheological fluid controller；
Step 2: power sense controller is according to theory orientation disk aligning torque M1Judge the due practical windup-degree of torsional spring,Wherein, θspringFor the due windup-degree of torsional spring, KCFor torsional spring practical stiffness, and the value is passed into motor control
Device processed, the corner of the steering wheel for the driver turn that electric machine controller combination corner and torque sensor pass over judge to turn round
Spring needs the angle that compensates, the corner of the due practical windup-degree of torsional spring and steering wheel is made the difference value obtains the beginning of torsional spring and answer
The offset angle θ by torsional spring worm-gear driventheory=θspring-δs, wherein θtheoryFor offset angle, δsFor steering wheel angle,
Ensure that the practical windup-degree of torsional spring can provide desired aligning torque to driver, is driven by torsional spring worm gear and motor worm
Than being converted to the desired corner size and Orientation of motor, electric machine controller is by pwm signal required for motor control and transmits
Enter to motor driver, motor driver receives pwm signal, is then passed to motor, motor load becomes in the process
Change, electric machine controller remains to maintain the desired theoretical corner size and Orientation of motor constant by adjusting pwm signal, additional to drive
The person of sailing rotates steering wheel, and aligning torque will pass through torsional spring shifting part and be transferred to internal rotor；
Step 3: the theory orientation disk damping torque high low signal of magnetorheological fluid controller reception sense controller transmitting,
According toτ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, L1For effective work
Make length, R1For the effective working radius of internal rotor, R2For the effective working radius of magnet exciting coil sleeve, τ0Magnetic is sheared for magnetorheological fluid
Cause stress；B is magnetic induction intensity；μ is dielectric permeability；N is magnet exciting coil the number of turns, and I is field coil current, and l is that magnetic circuit is long
Degree, and then obtain the theoretical values of exciting current, magnetorheological fluid controller also receives the torque of corner and torque sensor output
Signal carries out feedback regulation, Δ T=M according to the numerical value of theory orientation disk damping torque and the numerical value of practical damping torque1+M2-
Tsensor,Δτ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, Tsensor
For the actual steering wheel feedback moment that corner and torque sensor detect, Δ T is feedback moment compensation rate, Δ τ0It is magnetorheological
Liquid shear stress compensation rate；Magnetorheological fluid controller adjusts exciting current in real time and is executed by current feedback circuit, electric current
Generator generates actual current and is conveyed to the viscosity of magnet exciting coil sleeve generation true field change magnetorheological fluid and finally adjusts
The size of practical damping torque, magnet exciting coil sleeve can generate the viscosity that variable magnetic field changes internal magnetorheological fluid, by driving
The person of sailing, which rotates steering wheel, can produce the controllable damping torque of size, and final aligning torque and damping torque are added to corner
And on torque sensor, and it is finally transmitted on steering wheel by steering column, finally feeds back to driver, it is ensured that be ultimately transferred to
The torque of driver is equal with theory orientation disk torque.
The invention has the advantages that compared with prior art, magnetorheological fluid rotation torsional spring power sense feedback dress of the invention
It sets, is that the aligning torque and damping torque in theoretic feedback power sense are controlled respectively, eliminates traditional torque motor control
Irregularity and delay feature, and motor application common DC motor, reduce the cost of device.Theory orientation disk torque
It include mainly aligning torque and damping torque, aligning torque is contrary with steering wheel angle always, plays and enables steering wheel return
The effect of zero position；Damping torque is contrary with steering wheel rotation always, plays the role of hindering steering wheel rotation.Hui Zheng
Torque is generated by one group of oppositely oriented torsional spring, and the beginning of the torsional spring can be motor driven carry out active rotation, and terminal is logical
It crosses torsional spring shifting part and aligning torque is transferred to steering column；Damping torque magnetorheological fluid with magnet exciting coil sleeve generates, energy
The damping torque that size can be changed, is finally transferred on steering column, Hui Zheng by enough real-time monitoring magnetorheological fluid viscositys by internal rotor
Torque and damping torque are controlled in respectively to be eliminated traditional torque motor to a certain extent and directly exports feedback moment scheme
Delay and jitter not only can guarantee torque accurate feedback, but also can overcome a series of deficiencies of torque motor.Use interior turn of the present invention
Sub for drum-type and two kinds stacked, the processing is simple for rolling rotor, facilitates manufacture, can save the process costs of device, separately
Outer roller formula rotor structure is simple, and required rotor material is less, can further save installation cost, again, turns in drum-type
Gap between son and magnet exciting coil sleeve is easier to be machined to sufficiently small, can not only save the use of magnetorheological fluid in this way
Amount, additionally it is possible to increase the viscous resistance between internal rotor and magnet exciting coil sleeve under the premise of not increasing rotor structure size,
Further increase the ability of interior magnet exciting coil sleeve transmitting torque；Stacked internal rotor can not increase inner rotor shaft to ruler
Increase the active area of magnetorheological fluid under the premise of very little, the internal rotor of identical size can transmit bigger torque, or pass
Inner rotor radial size can be reduced in the identical situation of torque delivery, reduces the structure size of device；In addition, internal rotor is due to passing
Torque delivery ability is larger, can reduce the dosage of magnetic rheological fluid intelligent material, and then save the cost of device.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that magnetorheological fluid rotates torsional spring power sense feedback device axonometric drawing；
Fig. 2 is that magnetorheological fluid rotates torsional spring power sense feedback device cross-sectional view；
Fig. 3 is that magnetorheological fluid rotates torsional spring power sense feedback device magnet exciting coil sleeve axonometric drawing；
Fig. 4 is that magnetorheological fluid rotates torsional spring power sense feedback device inner rotor shaft mapping；
Fig. 5 is that magnetorheological fluid rotates torsional spring power sense feedback device torsional spring shifting part axonometric drawing；
Fig. 6 is that magnetorheological fluid rotates torsional spring power sense feedback device torsional spring worm gear axonometric drawing；
Fig. 7 is that magnetorheological fluid rotates torsional spring power sense feedback device torsional spring axonometric drawing；
Fig. 8 is that magnetorheological fluid rotates torsional spring power sense feedback device control flow and signal transmits schematic diagram.
In figure, 1. steering wheels；2. steering column；3. the support of bearing；4. shaft coupling；5. corner and torque sensor；6. torsional spring
Shifting part；7. torsional spring；8. motor worm；9. torsional spring worm gear；10. motor；11. bracket；12. steering stem bearing；13. sealing ring；
14. inner rotor bearing；15. magnet exciting coil sleeve；16. internal rotor；17. magnetorheological fluid；18. power sense controller；19. motor control
Device；20. motor driver；21. magnetorheological fluid controller；22. current feedback circuit；23. power supply.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Magnetorheological fluid rotates torsional spring power sense feedback device, as shown in Figs. 1-2, including power sense simulation system, power sensing control system
System, aligning torque generation system, damping torque generation system and power supply system；
Magnetorheological fluid rotates torsional spring power sense feedback device, including bracket 11, bracket 11 are successively arranged the support of bearing 3, corner
And torque sensor 5, magnet exciting coil sleeve 15 and motor 10；
Power sense simulation system, for obtaining theory orientation disk torque according to 1 angular signal of steering wheel, the power sense is by Hui Zhengli
Square and damping torque composition；Including steering wheel 1, steering column 2, the support of bearing 3, shaft coupling 4, corner and torque sensor 5, turn to
Axis of a cylinder holds 12, power sense controller 18；Bracket 11 is successively arranged the support of bearing 3 and corner and torque sensor 5, and steering column 2 passes through
Steering stem bearing 12 is fixedly connected on the support of bearing 3, and one end of steering column 2 and steering wheel 1 are rigidly connected, steering column 2 it is another
One end is connect by shaft coupling 4 with corner and torque sensor 5, and corner and torque sensor 5 pass through signal wire and power sensing control system
Device 18 is connected；
Power sense control system generates corresponding control signal for controlling motor 10 according to the size and Orientation of aligning torque
Corner size and corner direction generate corresponding control signal for controlling magnetorheological fluid viscosity according to the size of damping torque；
Including electric machine controller 19, motor driver 20, magnetorheological fluid controller 21, current feedback circuit 22；As shown in figure 8, corner and
Torque sensor 5 is connect with power sense controller 18 and magnetorheological fluid controller 21 respectively by signal wire, and power sense controller 18 is logical
Signal wire is crossed to be connected with electric machine controller 19, magnetorheological fluid controller 21, electric machine controller 19 by signal wire successively with electricity
Machine driver 20, motor 10 are connected, magnetorheological fluid controller 21 by signal wire successively with current feedback circuit 22, magnet exciting coil
Sleeve 15 is connected；
Aligning torque generation system, for driving the corner of torsional spring 7 and turning for driver turn steering wheel 1 according to motor 10
Aligning torque is applied on steering column 2 by angle by torsional spring shifting part 6；Including torsional spring shifting part 6, torsional spring 7, motor worm 8,
Torsional spring worm gear 9, motor 10, as shown in fig. 3 to 7；The other end of corner and torque sensor 5 passes through shaft coupling and 16 phase of internal rotor
Connection, internal rotor 16 are placed in magnet exciting coil sleeve 15, and torsional spring shifting part 6 is fixedly connected on the bearing branch of bracket 11 by bearing
On frame, internal rotor 16 is rigidly connected by shaft coupling and torsional spring shifting part 6, the terminal of two torsional springs 7 respectively with torsional spring shifting part 6
It is in contact, torsional spring worm gear 9 is rigidly connected with the beginning of two torsional springs 7 respectively by key, and motor worm 8 is engaged with torsional spring worm gear 9
Connection, motor worm 8 are connected with the output end of motor 10；
Damping torque generation system generates damping torque on internal rotor 16 for the transmission effect according to magnetorheological fluid；
Including magnet exciting coil sleeve 15, internal rotor 16, magnetorheological fluid 17, sealing ring 13；Internal rotor 16 passes through two inner rotor bearings 14
It is connected with magnet exciting coil sleeve 15, has magnetorheological fluid 17,16 both ends of internal rotor inside magnet exciting coil sleeve 15 and internal rotor 16
Sealing ring 13 is equipped with 15 junction of magnet exciting coil sleeve；
Power supply system: for providing electric energy for device；As shown in figure 8, power supply 23 by supply lines respectively with corner and turn
Square sensor 5, motor 10, power sense controller 18, electric machine controller 19, motor driver 20, magnetorheological fluid controller 21, electric current
Generator 22 is connected.
Torsional spring shifting part 6 contacts the terminal of two torsional springs 7 respectively, and torsional spring shifting part 6 can by bearing and the support of bearing 3
It is rotated around own axes, guarantees that the torque of different directions on two torsional springs 7 can be transferred on steering column 2.
Two torsional springs 7 are different rotation directions, and no matter driver is to which direction steering wheel rotation 1, and torsional spring 7 can be driven
The person of sailing is supplied to aligning torque, and aligning torque is contrary with 1 corner of steering wheel always, plays and steering wheel 1 is enabled to return zero-bit
Effect；Damping torque is contrary with the rotation of steering wheel 1 always, plays the role of that steering wheel 1 is hindered to rotate.
Torsional spring worm gear 9 is connected to the beginning of torsional spring 7, and can be revolved around own axes by bearing and the support of bearing 3
Turn.
Magnet exciting coil sleeve 15 generates the viscosity that magnetic field controls its internal magnetorheological fluid 17 according to its internal exciting current
Size damping torque size caused by power sense controller 18 of size, exciting current determines；
Internal rotor 16 is any one of drum-type internal rotor or stacked internal rotor, inside magnet exciting coil sleeve 15
The size of 17 viscosity of magnetorheological fluid generates damping torque, and the size of the torque is controlled by 17 viscosity of magnetorheological fluid, the torque
Direction is contrary with driver turn steering column 2, plays the role of hindering driver turn；
Magnetorheological fluid 17 is distributed between magnet exciting coil sleeve 15 and internal rotor 16, for generating the controllable damping of size
Torque.
Electric machine controller 19 guarantees that motor 10 can be protected in the case where there is fluctuation of load operating condition for controlling the corner of motor 10
Desired corner size and Orientation is held, drives the rotation of torsional spring 7 to expected angle, specific corner by motor worm 8 and torsional spring worm gear 9
The theory orientation disk aligning torque size and Orientation that size and Orientation is provided by power sense controller 18 determines that electric machine controller 19 produces
Raw pwm control signal passes to motor driver 20, and motor driver 20 delivers this to motor 10, revolves for controlling motor 10
Turn, so that motor 10 is able to maintain that desired corner size and Orientation；
Magnetorheological fluid controller 21 is calculated according to the size of damping torque caused by power sense controller 18, is obtained
Exciting current numerical value needed for magnet exciting coil, while magnetorheological fluid controller 21 also receives the signal of corner and torque sensor 5
For adjusting the size of field coil current in real time, it is ensured that pass to the torque size and theory orientation of driver on steering column 2
The numerical value of disk torque is identical；
Current feedback circuit 22 receives the theoretical current signal that magnetorheological fluid controller 21 is transmitted and generates size phase therewith
Same exciting current is for inputing to magnet exciting coil, 17 viscosity of real-time monitoring magnetorheological fluid.
Magnetorheological fluid rotates the application method application magnetorheological fluid rotation torsional spring power sense feedback dress of torsional spring power sense feedback device
It sets, specifically follows the steps below:
Step 1: steering wheel rotation 1 in driving procedure, the size of 1 corner of corner and 5 detection direction disk of torque sensor
And direction and signal being transmitted to power sense controller 18, aligning torque is by Kingpin inclination aligning torque MAPositive force is returned with pneumatic trail
Square MYComposition, MA=QDsin β sin δ, Q=mgb/L, wherein MAFor Kingpin inclination aligning torque, Q is tyre load, based on D
Selling inset from, β is kingpin inclination, and δ is front wheel angle, and m is vehicle mass, and g is acceleration of gravity, b be vehicle centroid extremely
The distance of rear axle, L are wheelbase；MY=FY(ξ '+ξ "),Wherein, MYFor pneumatic trail
Aligning torque, FYFor lateral force, ξ ' is pneumatic trail, and ξ " is hypsokinesis drag, and v is speed, and R is turning radius, k2For rear-wheel inclination
Rigidity, k1For incline of front wheels rigidity, a is distance of the vehicle centroid to front axle, damping torque MD=Bs·δs+Q·f·sign
(δs), wherein BsIt converts for steering system to the damped coefficient of steering column 2；δsFor 1 corner of steering wheel；F is that tire rubs with ground
Wipe coefficient；Sign expression takes symbolic operator； Wherein, M1For theory side
To disk aligning torque, theory orientation disk aligning torque is contrary with steering wheel (1) corner；M2For theory orientation damping torque,
Theory orientation damping torque is opposite with 1 rotation direction of steering wheel；I is steering system transmission ratio；P is force aid system power-assisted coefficient；
Power sense controller 18 calculates the theory orientation disk torque that feed back to driver by the size and telegoniometer of corner, will manage
It is divided into theory orientation disk aligning torque by steering wheel torque and theory orientation damping torque controls respectively, power sense controller 18 will be managed
Electric machine controller 19 is passed to by the size and Orientation of steering wheel return positive moment, the size of theory orientation damping torque is passed to
Magnetorheological fluid controller 21；
Step 2: power sense controller 18 is according to theory orientation disk aligning torque M1Judge the due practical torsion angle of torsional spring 7
Degree,Wherein, θspringFor the due windup-degree of torsional spring 7；KCFor 7 practical stiffness of torsional spring, and the value is passed into electricity
Machine controller 19, the steering wheel 1 for the driver turn that electric machine controller 19 combines corner and torque sensor 5 to pass over turn
Angle judges the angle that torsional spring 7 needs to compensate, the corner of the due practical windup-degree of torsional spring 7 and steering wheel 1 is made the difference value and is obtained
The offset angle θ that the beginning of torsional spring 7 should be driven by torsional spring worm gear 9theory=θspring-δs, wherein δsFor 1 corner of steering wheel,
Ensure that the practical windup-degree of torsional spring 7 can provide desired aligning torque to driver, passes through torsional spring worm gear 9 and motor worm 8
Gear ratio conversion obtains the desired corner size and Orientation of motor 10, and electric machine controller 19 believes PWM required for motor control
Number and be conveyed into motor driver 20, motor driver 20 receives pwm signal, is then passed to motor 10, in the process
The load of motor 10 changes, and electric machine controller 19 remains to maintain the desired theoretical corner of motor 10 big by adjusting pwm signal
Small and direction is constant, and additional driver rotates steering wheel 1, and aligning torque will pass through torsional spring shifting part 6 and be transferred to internal rotor 16；
Step 3: the theory orientation disk damping torque size letter of 21 reception sense controller 18 of magnetorheological fluid controller transmitting
Number, according toτ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, L1It is effective
Active length, R1For the effective working radius of internal rotor 16, R2For the effective working radius of magnet exciting coil sleeve 15, τ0For magnetorheological fluid
17 shearing magnetic stress；B is magnetic induction intensity；μ is dielectric permeability；N is magnet exciting coil the number of turns, and I is field coil current, l
For the length of magnetic path, and then obtain the theoretical values of exciting current, magnetorheological fluid controller 21 also receives corner and torque sensor 5
The dtc signal of output carries out feedback regulation according to the numerical value of theory orientation disk damping torque and the numerical value of practical damping torque,
Δ T=M1+M2-Tsensor,Δτ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, TsensorFor the actual steering wheel feedback moment that corner and torque sensor 5 detect, Δ T is feedback moment
Compensation rate, Δ τ0For 17 shear stress compensation rate of magnetorheological fluid；Magnetorheological fluid controller 21 adjusts exciting current in real time and passes through
Current feedback circuit 22 is executed, and current feedback circuit 22 generates actual current and is conveyed to the generation true field of magnet exciting coil sleeve 15
Change the viscosity of magnetorheological fluid 17 and finally adjust the size of practical damping torque, magnet exciting coil sleeve 15 can generate variable magnetic
Field changes the viscosity of internal magnetorheological fluid 17, and rotating steering wheel 1 by driver can produce the controllable damping torque of size, most
Whole aligning torque and damping torque are added on corner and torque sensor 5, and are finally transmitted to direction by steering column 2
On disk 1, driver is finally fed back to, it is ensured that the torque for being ultimately transferred to driver is equal with theory orientation disk torque.
Embodiment
From the front of steering wheel 1 viewing of the invention device, if driver from zero-bit rotates counterclockwise steering wheel 1, power at this time
The direction that the signal decision of the reception corner of sense controller 18 and torque sensor 5 goes out aligning torque in theory orientation disk torque should be
Clockwise, the direction of damping torque is also clockwise；The size and Orientation of aligning torque is passed to motor by power sense controller 18
Controller 19, while electric machine controller 19 receives the angle of driver turn steering wheel 1 detected by corner and torque sensor 5
Degree judges the angle that torsional spring 7 needs to compensate, if torsional spring 7 is also not enough under the action of driver rotates counterclockwise steering wheel 1
Sufficiently large aligning torque is provided, then motor 10 should drive the beginning up time of the drive torsional spring 7 of torsional spring worm gear 9 by motor worm 8
Needle rotates a certain angle, and compensates the practical torsion angle of torsional spring 7, acts on out the phase will pass through torsional spring shifting part 6 on steering column 2
The aligning torque of prestige；If instead torsional spring 7 provides excessive return just under the action of driver rotates counterclockwise steering wheel 1
Torque, then motor 10 should be rotated a certain angle counterclockwise by the beginning that motor worm 8 drives torsional spring worm gear 9 to drive torsional spring 7,
The practical torsion angle of torsional spring 7 is reduced, therefore desired aligning torque is acted on out on steering column 2 by torsional spring shifting part 6；Power sense
The size of damping torque is passed to magnetorheological fluid controller 21,21 reception sense controller of magnetorheological fluid controller by controller 18
The damping torque high low signal of 18 transmitting, calculates the theoretical viscosity of magnetorheological fluid 17 and extrapolates the theory of exciting current in turn
Numerical value, magnetorheological fluid controller 21 also receives the dtc signal that corner and torque sensor 5 export, according to theory orientation disk torque
Numerical value and actual torque numerical value carry out feedback regulation, magnetorheological fluid controller 21 in real time adjust exciting current simultaneously pass through electric current
Generator 22 is executed, and current feedback circuit 22 generates actual current and is conveyed to the generation true field change of magnet exciting coil sleeve 15
The viscosity of magnetorheological fluid 17 and the size for finally adjusting damping torque, magnet exciting coil sleeve 15 can generate in variable magnetic field change
The viscosity of portion's magnetorheological fluid 17, rotating steering wheel 1 by driver can produce the controllable damping torque of size, finally return positive force
Square and damping torque are added on corner and torque sensor 5, and are finally transmitted on steering wheel 1 by steering column 2, most
Driver is fed back to eventually, it is ensured that the torque for being ultimately transferred to driver is equal with theory orientation disk torque.
Magnetorheological fluid of the present invention rotates torsional spring power sense feedback device for the aligning torque and damping in steering wheel feedback torque
Torque is separately controlled, avoid traditional power sense feedback device and meanwhile both control resultant moment direction and size and generate
Delay and jitter phenomenon, the control of motor 10 is more simple in aligning torque, need to only carry out corner control, the production of aligning torque
Life is from torsional spring 7 and the effect of torsional spring shifting part 6, without delay phenomenon.Motor is driven by torsional spring worm gear 9 and motor worm 8
As long as corner model- following control is accomplished at the beginning of torsional spring 7, change traditional power sense feedback device because motor performance is not high and
Influence the final deleterious situation for realizing effect；Due to by 1 feedback moment of steering wheel aligning torque and damping torque separate into
Row control generates structure by different controllers and torque and is controlled and exported, and the latter two to be superimposed to steering column naturally enterprising
And driver is passed to, therefore there is no the mutation of parameter in control process, so that control process is more smooth；Using torque sensing
Signal carries out Real-time Feedback adjusting, it can be ensured that the 1 power sense fed back values of steering wheel and theory orientation disk torque number actually generated
It is worth equal, control effect is more excellent.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (7)
1. magnetorheological fluid rotates torsional spring power sense feedback device, which is characterized in that including bracket (11), bracket (11) is successively arranged axis
Bracket (3), corner and torque sensor (5), magnet exciting coil sleeve (15) and motor (10) are held, steering column (2) passes through steering column
Bearing (12) is fixedly connected on the support of bearing (3), and one end and steering wheel (1) of steering column (2) are rigidly connected, steering column (2)
The other end connect with one end of corner and torque sensor (5) by shaft coupling (4)；Corner and torque sensor (5) it is another
One end is connected by shaft coupling with internal rotor (16), and internal rotor (16) is placed in magnet exciting coil sleeve (15), torsional spring shifting part
(6) it is fixedly connected on by bearing on the support of bearing of bracket (11), internal rotor (16) passes through shaft coupling and torsional spring shifting part (6)
Rigid connection, the terminal of two torsional springs (7) is in contact with torsional spring shifting part (6) respectively, and torsional spring worm gear (9) is by key respectively with two
The beginning of a torsional spring (7) is rigidly connected, and motor worm (8) engages connection, motor worm (8) and motor with torsional spring worm gear (9)
(10) output end is connected；Internal rotor (16) is connected by two inner rotor bearings (14) with magnet exciting coil sleeve (15),
Have magnetorheological fluid (17) inside magnet exciting coil sleeve (15) and internal rotor (16), internal rotor (16) both ends and magnet exciting coil sleeve
(15) junction is equipped with sealing ring (13)；Corner and torque sensor (5) by signal wire respectively with power sense controller (18) and
Magnetorheological fluid controller (21) connection, power sense controller (18) are controlled by signal wire and electric machine controller (19), magnetorheological fluid
Device (21) is connected, and electric machine controller (19) is successively connected with motor driver (20), motor (10) by signal wire, magnetic current
Variable flow control device (21) is successively connected with current feedback circuit (22), magnet exciting coil sleeve (15) by signal wire.
2. magnetorheological fluid according to claim 1 rotates torsional spring power sense feedback device, which is characterized in that the torsional spring (7)
Two are different rotation directions.
3. magnetorheological fluid according to claim 1 rotates torsional spring power sense feedback device, which is characterized in that power supply (23) passes through
Supply lines drives with corner and torque sensor (5), motor (10), power sense controller (18), electric machine controller (19), motor respectively
Dynamic device (20), magnetorheological fluid controller (21), current feedback circuit (22) are connected.
4. magnetorheological fluid according to claim 1 rotates torsional spring power sense feedback device, which is characterized in that the torsional spring is stirred
Part (6) can be rotated by bearing and the support of bearing (3) around own axes.
5. magnetorheological fluid according to claim 1 rotates torsional spring power sense feedback device, which is characterized in that the torsional spring worm gear
(9) it can be rotated around own axes.
6. magnetorheological fluid according to claim 1 rotates torsional spring power sense feedback device, which is characterized in that the internal rotor
It (16) is any one of drum-type internal rotor or stacked internal rotor.
7. a kind of application method of the magnetorheological fluid rotation torsional spring power sense feedback device as described in claim 1-6 any one,
It is characterized in that, specifically following the steps below:
Step 1: steering wheel rotation (1) in driving procedure, corner and torque sensor (5) detection direction disk (1) corner is big
Signal is simultaneously transmitted to power sense controller (18) by small and direction, and aligning torque is by Kingpin inclination aligning torque MAIt is returned with pneumatic trail
Positive moment MYComposition, MA=QDsin β sin δ, Q=mgb/L, wherein MAFor Kingpin inclination aligning torque, Q is tyre load, D
It is stub inset from β is kingpin inclination, and δ is front wheel angle, and m is vehicle mass, and g is acceleration of gravity, and b is vehicle matter
For the heart to the distance of rear axle, L is wheelbase；MY=FY(ξ '+ξ "), Wherein, MY is
Pneumatic trail aligning torque, FYFor lateral force, ξ ' is pneumatic trail, and ξ " is hypsokinesis drag, and v is speed, and R is turning radius, k2For
Rear-wheel roll stiffness, k1For incline of front wheels rigidity, a is distance of the vehicle centroid to front axle, damping torque MD=Bs·δs+Q·
f·sign(δs), wherein BsIt converts for steering system to the damped coefficient of steering column (2)；δsFor steering wheel (1) corner；F is wheel
Tire and ground friction coefficient；Sign expression takes symbolic operator；
Wherein, M1For theory orientation disk aligning torque, theory orientation disk aligning torque is contrary with steering wheel (1) corner；M2For theory
Direction damping torque, theory orientation damping torque are opposite with steering wheel (1) rotation direction；I is steering system transmission ratio；P is to help
Force system power-assisted coefficient；Power sense controller (18) calculates the reason that feed back to driver by the size and telegoniometer of corner
By steering wheel torque, theory orientation disk torque is divided into theory orientation disk aligning torque and theory orientation damping torque is controlled respectively
The size and Orientation of theory orientation disk aligning torque is passed to electric machine controller (19) by system, power sense controller (18), will be theoretical
The size of direction damping torque passes to magnetorheological fluid controller (21)；
Step 2: power sense controller (18) is according to theory orientation disk aligning torque M1Judge the due practical torsion angle of torsional spring (7)
Degree,Wherein, θspringFor torsional spring (7) due windup-degree, KCFor torsional spring (7) practical stiffness, and the value is passed
It passs electric machine controller (19), the driver turn that electric machine controller (19) combines corner and torque sensor (5) to pass over
Steering wheel (1) corner, judge that torsional spring (7) need the angle that compensates, by the due practical windup-degree of torsional spring (7) and direction
The corner of disk (1) makes the difference value and obtains the offset angle θ that the beginning of torsional spring (7) should be driven by torsional spring worm gear (9)theory=
θspring-δs, wherein θtheoryFor offset angle, δsFor steering wheel (1) corner, it is ensured that torsional spring (7) practical windup-degree can be given
Driver provides desired aligning torque, obtains motor (10) phase by torsional spring worm gear (9) and motor worm (8) gear ratio conversion
The corner size and Orientation of prestige, electric machine controller (19) is by pwm signal required for motor control and is conveyed into motor driven
Device (20), motor driver (20) receive pwm signal, are then passed to motor (10), in the process motor (10) load hair
Changing, electric machine controller (19) remain to maintain motor (10) desired theoretical corner size and Orientation by adjusting pwm signal
Constant, additional driver rotates steering wheel (1), and aligning torque will pass through torsional spring shifting part (6) and be transferred to internal rotor (16)；
Step 3: the theory orientation disk damping torque size letter of magnetorheological fluid controller (21) reception sense controller (18) transmitting
Number, according toτ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, L1
For effective active length, R1For internal rotor (16) effective working radius, R2For magnet exciting coil sleeve (15) effective working radius, τ0
Magnetic stress is sheared for magnetorheological fluid (17)；B is magnetic induction intensity；μ is dielectric permeability；N is magnet exciting coil the number of turns, and I is to encourage
Magnet-wire loop current, l are the length of magnetic path, and then obtain the theoretical values of exciting current, and magnetorheological fluid controller (21), which also receives, to be turned
The dtc signal of angle and torque sensor (5) output, according to the numerical value of theory orientation disk damping torque and practical damping torque
Numerical value carries out feedback regulation, Δ T=M1+M2-Tsensor,Δτ0=1150B4-2140B3+
1169B2- 64B+0.8,Wherein, TsensorThe actual steering wheel feedback force detected for corner and torque sensor (5)
Square, Δ T are feedback moment compensation rate, Δ τ0For magnetorheological fluid (17) shear stress compensation rate；Magnetorheological fluid controller (21) is real
When adjust exciting current and executed by current feedback circuit (22), current feedback circuit (22), which generates actual current and is conveyed to, encourages
Magnetic coil sleeve (15) generates the size that true field changes the viscosity of magnetorheological fluid (17) and finally adjusts practical damping torque,
Magnet exciting coil sleeve (15) can generate the viscosity that variable magnetic field changes internal magnetorheological fluid (17), pass through driver direction of rotation
Disk (1) can produce the controllable damping torque of size, and final aligning torque and damping torque are added to corner and torque passes
It on sensor (5), and is finally transmitted on steering wheel (1) by steering column (2), finally feeds back to driver, it is ensured that final transmitting
It is equal with theory orientation disk torque to the torque of driver.
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| CN110632507A (en) * | 2019-09-03 | 2019-12-31 | 国网浙江省电力有限公司嘉兴供电公司 | Intelligent comprehensive detection system and method for secondary circuit of high-voltage circuit breaker |
| DE102019213958A1 (en) | 2019-09-12 | 2021-03-18 | Zf Friedrichshafen Ag | Rotation control device for steering |
| DE102019213959A1 (en) * | 2019-09-12 | 2021-03-18 | Zf Friedrichshafen Ag | Rotation control device for steering |
| CN115270583B (en) * | 2022-09-19 | 2022-12-27 | 麦格纳动力总成(江西)有限公司 | Method and system for analyzing torsional impact fatigue of automobile differential |
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