CN108394460A - The magnetorheological fluid power sense feedback device of bevel gear and its application method - Google Patents

The magnetorheological fluid power sense feedback device of bevel gear and its application method Download PDF

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CN108394460A
CN108394460A CN201810409417.1A CN201810409417A CN108394460A CN 108394460 A CN108394460 A CN 108394460A CN 201810409417 A CN201810409417 A CN 201810409417A CN 108394460 A CN108394460 A CN 108394460A
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bevel gear
sleeve
torque
steering wheel
excitation coil
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CN108394460B (en
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张素民
仲首任
姜玉瑶
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Jilin University
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Jilin University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D3/00Steering gears
    • B62D3/14Steering gears hydraulic

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Gear Transmission (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The invention discloses a kind of magnetorheological fluid power sense feedback device of bevel gear and its application method, the magnetorheological fluid power sense feedback device of bevel gear includes power sense simulation system, power sense control system, power sense generation system, exchange system and power supply system.The bevel gear mechanism of the present invention is that positive and negative rotation rotating speed is equal, and bevel gear is simple in structure, easy for installation, and manufacturing cost is low, since idle pulley is fixed on holder, the operation is stable, and bevel gear structure is preferable to the support of inside and outside sleeve, the coaxial accuracy of mechanism is higher.

Description

锥齿轮磁流变液力感反馈装置及其使用方法Bevel gear magneto-rheological fluid force feedback device and its application method

技术领域technical field

本发明属于汽车电控及智能化领域,涉及一种锥齿轮磁流变液力感反馈装置及其使用方法。The invention belongs to the field of automobile electric control and intelligence, and relates to a bevel gear magneto-rheological fluid force feedback device and a use method thereof.

背景技术Background technique

传统车辆道路试验具有成本高、时间长、场地条件有限以及极限工况易发生事故等缺点,采用汽车驾驶模拟系统替代传统车辆道路试验是目前的主流趋势。成熟的驾驶模拟系统能较为真实地反映出车辆运动状态、道路条件、周围环境以及各种体感、力感,极大地降低了车辆道路试验资金成本、时间成本和人力成本。其中准确的方向盘力感反馈是必不可少的,其很大程度上决定了驾驶员能否按照给定的路线或者驾驶意图做出相应的操作,对驾驶员的操作决策至关重要。传统的力感反馈装置主要由力矩电机配合减速机构组成,但它存在控制不平顺、延迟和抖动大、机械连接装置复杂以及容易出现电机卡死等缺点。现有技术中有的能解决等速旋转换向的问题,但是由于其机械结构与气动式的动力来源,换向延迟较大。行星齿轮虽然可以快速换向,但是没办法实现等速换向,因此在一些对等速要求比较严格的工况没法使用。申请号为201410021814.3,发明名称为“把手快速换向机构”,公开日为2014年5月14日,提出了一种把手快速换向结构,该发明为平动换向。申请号为201310329852.0,发明名称为“一种快速换向系统”,公开日为2015年2月11日,申请提出一种快速换向系统,该发明的快速换向结构使用机械结构,换向时间较长。Traditional vehicle road tests have disadvantages such as high cost, long time, limited site conditions, and accidents in extreme conditions. It is the current mainstream trend to replace traditional vehicle road tests with vehicle driving simulation systems. A mature driving simulation system can truly reflect the vehicle's motion state, road conditions, surrounding environment, and various body and force sensations, which greatly reduces the capital cost, time cost and labor cost of the vehicle road test. Among them, accurate steering wheel force feedback is essential, which to a large extent determines whether the driver can make corresponding operations according to a given route or driving intention, and is crucial to the driver's operation decision-making. The traditional force feedback device is mainly composed of a torque motor and a reduction mechanism, but it has disadvantages such as uneven control, large delay and jitter, complicated mechanical connection device, and easy motor jamming. Some of the prior art can solve the problem of constant speed rotation and reversing, but due to its mechanical structure and pneumatic power source, the reversing delay is relatively large. Although the planetary gear can change direction quickly, it cannot achieve constant speed change, so it cannot be used in some working conditions that require strict constant speed. The application number is 201410021814.3, and the name of the invention is "handle quick reversing mechanism". The application number is 201310329852.0, and the title of the invention is "a fast reversing system". The publication date is February 11, 2015. The application proposes a fast reversing system. longer.

磁流变液是一种智能材料,是将微米尺寸的磁极化颗粒分散于非磁性液体(矿物油、硅油等)中形成的悬浮液。在零磁场情况下磁流变液可以自由流动,表现出牛顿流体的行为,其表观黏度很小;在外加磁场作用下可在短时间(毫秒级)内表观黏度增加几个数量级以上,并呈现类固体特性,具有一定的抗剪切屈服应力,而且这种变化是连续的、可逆的,即去掉磁场后又恢复到原来的流动状态,并且这种特性受外界其他因素(如温度)影响很小。磁流变液的磁流变效应,为它在工程实际中提供了广泛的应用前景。Magnetorheological fluid is a kind of smart material, which is a suspension formed by dispersing micron-sized magnetically polarized particles in non-magnetic liquids (mineral oil, silicone oil, etc.). In the case of zero magnetic field, magnetorheological fluid can flow freely, showing the behavior of Newtonian fluid, and its apparent viscosity is very small; under the action of an external magnetic field, the apparent viscosity can increase by several orders of magnitude in a short time (milliseconds), And it exhibits solid-like characteristics, has a certain shear yield stress, and this change is continuous and reversible, that is, it returns to the original flow state after removing the magnetic field, and this characteristic is affected by other external factors (such as temperature) The effect is minimal. The magnetorheological effect of magnetorheological fluid provides a wide range of application prospects in engineering practice.

发明内容Contents of the invention

为实现上述目的,本发明提供一种锥齿轮磁流变液力感反馈装置及其使用方法,解决了现有技术中力感反馈装置延迟抖动以及控制不平顺、机械连接装置复杂、无法完成正反向等速旋转以及容易卡死的问题。In order to achieve the above object, the present invention provides a bevel gear magneto-rheological fluid force feedback device and its use method, which solves the problems of delayed vibration, uneven control, complicated mechanical connection device and inability to complete positive feedback in the prior art. The problem of reverse constant rotation and easy jamming.

本发明所采用的技术方案是,锥齿轮磁流变液双转筒力感反馈装置,包括托架,托架上依次设有轴承支座、转角及转矩传感器、外励磁线圈、惰轮轴承支架和电机,转向柱通过转向柱轴承固定在轴承支架上,方向盘与转向柱刚性连接,转向柱通过联轴器与转角及转矩传感器的一端相连接,转角及转矩传感器的另一端通过联轴器与隔磁套筒相连接,隔磁套筒通过隔磁套筒轴承连接到轴承支架上,电机的输出端通过联轴器与锥齿轮及与其固连的小套筒固定连接,锥齿轮及与其固连的小套筒通过小套筒轴承固定连接到托架的轴承支架上,锥齿轮及与其固连的小套筒通过两个内轴承和两个支撑轴承连接到隔磁套筒,锥齿轮及与其固连的小套筒与隔磁套筒之间充满磁流变液其连接处设有内密封圈,内励磁线圈分别缠绕在隔磁套筒中间轴的两侧上,惰轮通过惰轮轴承固定连接在惰轮轴承支架上,锥齿轮及与其固连的小套筒上的锥齿轮通过两个惰轮与锥齿轮及与其固连的大套筒上的锥齿轮啮合,锥齿轮及与其固连的大套筒通过两个外轴承连接到隔磁套筒,锥齿轮及与其固连的大套筒与隔磁套筒之间充满磁流变液其连接处设有外密封圈,外励磁线圈分别缠绕于隔磁套筒外周的两侧;转角及转矩传感器通过信号线与力感控制器和磁流变液控制器连接,力感控制器通过信号线依次与磁流变液控制器、电流发生器和外励磁线圈/内励磁线圈连接,电机控制器通过信号线依次与电机驱动器和电机连接。The technical solution adopted in the present invention is that the force-sensing feedback device of the bevel gear magneto-rheological fluid double-rotor includes a bracket, and the bracket is sequentially provided with a bearing support, a rotation angle and torque sensor, an external excitation coil, and an idler bearing Bracket and motor, the steering column is fixed on the bearing bracket through the steering column bearing, the steering wheel is rigidly connected with the steering column, the steering column is connected with one end of the rotation angle and torque sensor through a coupling, and the other end of the rotation angle and torque sensor is connected through a coupling The shaft is connected with the magnetic isolation sleeve, and the magnetic isolation sleeve is connected to the bearing bracket through the magnetic isolation sleeve bearing. The output end of the motor is fixedly connected with the bevel gear and the small sleeve fixed to it through the coupling. The bevel gear And the small sleeve fixed to it is fixedly connected to the bearing bracket of the bracket through the small sleeve bearing, the bevel gear and the small sleeve fixed to it are connected to the magnetic isolation sleeve through two inner bearings and two support bearings, The bevel gear and the small sleeve fixed to it and the magnetic isolation sleeve are filled with magnetorheological fluid. The connection is provided with an inner sealing ring, and the inner excitation coil is wound on both sides of the middle shaft of the magnetic isolation sleeve. The bevel gear and the bevel gear on the small sleeve fixed to it are meshed with the bevel gear and the bevel gear on the large sleeve fixed to it through two idler gears. The gear and the large sleeve fixed to it are connected to the magnetic isolation sleeve through two outer bearings. The bevel gear, the large sleeve fixed to it and the magnetic isolation sleeve are filled with magnetorheological fluid, and the connection is provided with an external seal. The external excitation coils are respectively wound on both sides of the outer periphery of the magnetic isolation sleeve; the rotation angle and torque sensors are connected to the force sense controller and the magneto-rheological fluid controller through the signal line, and the force sense controller is connected to the magnetic flow controller through the signal line in turn. The liquid-changing controller, the current generator and the external excitation coil/inner excitation coil are connected, and the motor controller is connected with the motor driver and the motor in turn through the signal line.

进一步的,所述外励磁线圈和内励磁线圈缠绕方向不同。Further, the winding directions of the outer excitation coil and the inner excitation coil are different.

进一步的,电源通过供电线分别与转角及转矩传感器、电机、力感控制器、电机控制器、电机驱动器、磁流变液控制器、电流发生器相连接。Further, the power supply is respectively connected to the rotation angle and torque sensor, the motor, the force sense controller, the motor controller, the motor driver, the magneto-rheological fluid controller, and the current generator through the power supply line.

本发明所采用的另一种技术方案是,锥齿轮磁流变液双转筒力感反馈装置的使用方法,具体按照以下步骤进行:Another technical solution adopted by the present invention is the method of using the force-sensing feedback device of the bevel gear magneto-rheological fluid double-drum, specifically according to the following steps:

步骤一、在驾驶过程中转动方向盘,转角及转矩传感器检测方向盘转角的大小以及方向并将其传递给力感控制器,回正力矩由主销内倾回正力矩MA和轮胎拖距回正力矩MY组成,MA=QDsinβsinδ,Q=mg·b/L,其中,MA为主销内倾回正力矩,Q为轮胎载荷,D为主销内移距离,β为主销内倾角,δ为前轮转角,m为车辆质量,g为重力加速度,b为车辆质心至后轴的距离,L为轴距;MY=FY(ξ'+ξ”),其中,MY为轮胎拖距回正力矩,FY为侧向力,ξ'为气胎拖距,ξ”为后倾拖距,v为车速,R为转弯半径,k2为后轮侧倾刚度,k1为前轮侧倾刚度,a为车辆质心至前轴的距离,阻尼力矩MD=Bs·δs+Q·f·sign(δs),其中,Bs为转向系统折算至转向柱的阻尼系数,δs为方向盘转角,f为轮胎与地面摩擦系数,sign表示取符号算子;理论方向盘力矩其中,i为转向系统传动比,p为助力系统助力系数,F(δs)为理论方向盘力矩与方向盘转角δs之间的函数,力感控制器得出理论方向盘力矩的大小以及方向并传递给磁流变液控制器;Step 1. Turn the steering wheel during driving. The angle and torque sensor detects the size and direction of the steering wheel angle and transmits it to the force-sensing controller. The centering torque is determined by the kingpin inclination backing moment M A and the tire trailing moment. Composition of M Y , M A = QDsinβsinδ, Q = mg b/L, among them, M A is the positive torque of the main pin inclination, Q is the tire load, D is the distance of the main pin inward movement, β is the inclination angle of the main pin, δ is the front wheel rotation angle, m is the vehicle mass, g is the gravitational acceleration, b is the distance from the center of mass of the vehicle to the rear axle, L is the wheelbase; M Y =F Y (ξ'+ξ"), Among them, M Y is the tire trailing moment, F Y is the lateral force, ξ' is the pneumatic tire trail, ξ" is the caster trail, v is the vehicle speed, R is the turning radius, k 2 is the rear wheel side tilt stiffness, k 1 is the front wheel roll stiffness, a is the distance from the center of mass of the vehicle to the front axle, the damping moment M D =B s ·δ s +Q·f·sign(δ s ), where B s is the steering system Converted to the damping coefficient of the steering column, δ s is the steering wheel angle, f is the friction coefficient between the tire and the ground, and sign represents the sign operator; the theoretical steering wheel torque Among them, i is the transmission ratio of the steering system, p is the power assist coefficient of the power assist system, F(δ s ) is the function between the theoretical steering wheel torque and the steering wheel angle δ s , and the force sense controller obtains the magnitude and direction of the theoretical steering wheel torque and transmits it For magnetorheological fluid controller;

步骤二、电机控制器通过电机驱动器控制电机维持旋转,隔磁套筒被磁流变液包围,随时准备接收转筒的驱动力矩并通过转角及转矩传感器传递给方向盘,τ0=1150B4-2140B3+1169B2-64B+0.8,其中,T1为隔磁套筒和锥齿轮及与其固连的小套筒之间实际输出的力矩,T2为隔磁套筒和锥齿轮及与其固连的大套筒之间实际输出的力矩;L1为有效工作长度;R1为锥齿轮及与其固连的小套筒工作半径;R2为隔磁套筒的有效工作半径;R3为锥齿轮及与其固连的大套筒工作半径;τ0为磁流变液剪切磁致应力;最终接收哪一个转筒的驱动力矩由磁流变液的黏度决定该套转筒系统则能够将与锥齿轮及与其固连的套筒的驱动力矩传递给隔磁套筒,最终传递给驾驶员,一套转筒系统工作的同时另一套的励磁线圈没有电流,进行空转;Step 2. The motor controller controls the motor to maintain rotation through the motor driver. The magnetic isolation sleeve is surrounded by magneto-rheological fluid, and is ready to receive the driving torque of the rotating drum at any time and transmit it to the steering wheel through the rotation angle and torque sensors. τ 0 =1150B 4 -2140B 3 +1169B 2 -64B+0.8, Among them, T 1 is the actual output torque between the magnetic isolation sleeve and the bevel gear and the small sleeve fixed to it, T 2 is the actual output torque between the magnetic isolation sleeve and the bevel gear and the large sleeve fixed to it Torque; L 1 is the effective working length; R 1 is the working radius of the bevel gear and the small sleeve fixed to it; R 2 is the effective working radius of the magnetic isolation sleeve; R 3 is the bevel gear and the large sleeve fixed to it Working radius; τ 0 is the shear magneto-induced stress of the magneto-rheological fluid; the final receiving drive torque of which rotor is determined by the viscosity of the magneto-rheological fluid. The driving torque of the drum is transmitted to the magnetic isolation sleeve, and finally to the driver. While one drum system is working, the excitation coil of the other set has no current, and it is idling;

步骤三、磁流变液控制器根据理论方向盘力矩M1的大小得出励磁线圈的理论电流大小,根据理论方向盘力矩的方向得出应该向哪个励磁线圈供电,τ0=1150B4-2140B3+1169B2-64B+0.8,其中,B为磁感应强度;μ为介质磁导率,N为励磁线圈匝数,I为励磁线圈电流,l为磁路长度,然后通过电流发生器予以执行;磁流变液控制器还能接收转角及转矩传感器输出的转矩信号,根据理论方向盘力矩的数值和实际力矩的数值进行反馈调节,ΔT=M1-T,其中,T为锥齿轮及其固连的套筒与隔磁套筒间实际方向盘反馈力矩,ΔT为反馈力矩补偿量,确保最终传递给驾驶员的力矩与理论方向盘力矩相等。Step 3: The magnetorheological fluid controller obtains the theoretical current of the excitation coil according to the theoretical steering wheel torque M 1 , and obtains which excitation coil should be supplied with power according to the direction of the theoretical steering wheel torque, τ 0 =1150B 4 -2140B 3 + 1169B 2-64B +0.8, Among them, B is the magnetic induction intensity; μ is the magnetic permeability of the medium, N is the number of turns of the excitation coil, I is the current of the excitation coil, and l is the length of the magnetic circuit, which is then executed by the current generator; the magnetorheological fluid controller can also receive The torque signal output by the rotation angle and torque sensor is fed back and adjusted according to the value of the theoretical steering wheel torque and the value of the actual torque, ΔT=M 1 -T, where T is the bevel gear and its fixed sleeve and magnetic isolation sleeve The actual steering wheel feedback torque between cylinders, ΔT is the feedback torque compensation amount, to ensure that the final torque transmitted to the driver is equal to the theoretical steering wheel torque.

本发明的有益效果是,与现有技术相比,本发明力感的方向控制由电机带动等速反向旋转的锥齿轮系统完成,锥齿轮机构为正反转转速相等,锥齿轮结构简单,安装方便,制造成本低,由于惰轮固定在支架上,因此工作稳定,且锥齿轮结构对内外套筒的支撑较好,机构的同轴度精度较高。锥齿轮结构还能够应用于其他的快速换向结构中,使换向延迟达到毫秒级,该结构不仅可以用于力感反馈装置,还可以用于其他装置。本发明不仅可以达到快速等速换向的效果,还可以控制换向后的力矩大小。本发明还具有可调节的功能。The beneficial effect of the present invention is that, compared with the prior art, the direction control of the force sense of the present invention is completed by the bevel gear system driven by the motor to rotate in the opposite direction at a constant speed. The installation is convenient and the manufacturing cost is low. Since the idler gear is fixed on the bracket, the work is stable, and the bevel gear structure supports the inner and outer sleeves better, and the coaxiality precision of the mechanism is higher. The bevel gear structure can also be applied to other fast reversing structures, so that the reversing delay can reach the millisecond level. This structure can be used not only in force-feedback devices, but also in other devices. The invention can not only achieve the effect of rapid constant speed reversing, but also control the magnitude of the moment after reversing. The present invention also has an adjustable function.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

图1为锥齿轮式磁流变液双转筒力感反馈装置轴测图;Fig. 1 is an axonometric view of a bevel gear magneto-rheological fluid double-drum force-sensing feedback device;

图2为锥齿轮式磁流变液双转筒力感反馈装置俯视图;Fig. 2 is a top view of the force-sensing feedback device of the bevel gear magneto-rheological fluid double drum;

图3为锥齿轮式磁流变液双转筒力感反馈装置剖视图;Fig. 3 is a cross-sectional view of the force-sensing feedback device of the bevel gear magneto-rheological fluid double drum;

图4为锥齿轮式磁流变液双转筒力感反馈装置控制流程及信号传递图;Fig. 4 is a diagram of the control flow and signal transmission of the bevel gear magnetorheological fluid double-drum force-sensing feedback device;

图5为锥齿轮式磁流变液双转筒力感反馈装置与方向盘连接的隔磁套筒轴测图;Fig. 5 is an axonometric view of the magnetic isolation sleeve connected to the steering wheel with the bevel gear magneto-rheological fluid double-drum force-feedback device;

图6为锥齿轮式磁流变液双转筒力感反馈装置锥齿轮及与其固连的小套筒轴测图;Fig. 6 is an axonometric view of the bevel gear and the small sleeve fixedly connected to the bevel gear magneto-rheological fluid double-drum force-feedback device;

图7为锥齿轮式磁流变液双转筒力感反馈装置锥齿轮及与其固连的大套筒轴测图;Fig. 7 is an axonometric view of the bevel gear and the large sleeve fixedly connected to it of the bevel gear magneto-rheological fluid double-drum force-feedback device;

图8为锥齿轮式磁流变液双转筒力感反馈装置惰轮轴测图;Fig. 8 is an axonometric view of the idler gear of the bevel gear magneto-rheological fluid double-drum force-sensing feedback device;

图9为锥齿轮式磁流变液双转筒力感反馈装置外励磁线圈轴测图。Fig. 9 is an axonometric view of the external excitation coil of the bevel gear magneto-rheological fluid double-drum force-sensing feedback device.

图中,1.方向盘,2.轴承支架,3.联轴器,4.转角及转矩传感器,5.外励磁线圈,6.锥齿轮及与其固连的大套筒,7.惰轮,8.锥齿轮及与其固连的小套筒,9.电机,10.托架,11.惰轮轴承,12.惰轮轴承支架,13.转向柱,14.转向柱轴承,15.隔磁套筒轴承,16.外密封圈,17.外轴承,18.内轴承,19.内励磁线圈,20.磁流变液,21.内密封圈,22.小套筒轴承,23.支撑轴承,24.隔磁套筒,25.电机驱动器,26.电机控制器,27.力感控制器,28.磁流变液控制器,29.电流发生器,30.电源。In the figure, 1. Steering wheel, 2. Bearing bracket, 3. Coupling, 4. Angle and torque sensor, 5. External excitation coil, 6. Bevel gear and the large sleeve fixed to it, 7. Idler wheel, 8. Bevel gear and the small sleeve fixed to it, 9. Motor, 10. Bracket, 11. Idler bearing, 12. Idler bearing bracket, 13. Steering column, 14. Steering column bearing, 15. Magnetic isolation Sleeve bearing, 16. Outer sealing ring, 17. Outer bearing, 18. Inner bearing, 19. Inner excitation coil, 20. Magnetorheological fluid, 21. Inner sealing ring, 22. Small sleeve bearing, 23. Support bearing , 24. Magnetic isolation sleeve, 25. Motor driver, 26. Motor controller, 27. Force sense controller, 28. Magnetorheological fluid controller, 29. Current generator, 30. Power supply.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

锥齿轮磁流变液力感反馈装置,如图1-4所示,包括力感模拟系统、力感控制系统、力感产生系统、换向系统和供电系统;The bevel gear magneto-rheological fluid force feedback device, as shown in Figure 1-4, includes a force-sensing simulation system, a force-sensing control system, a force-sensing generation system, a reversing system and a power supply system;

锥齿轮磁流变液双转筒力感反馈装置,包括托架10,托架10上依次设有轴承支座2、转角及转矩传感器4、外励磁线圈5、惰轮轴承支架12和电机9;Bevel gear magneto-rheological fluid double-rotor force-sensing feedback device, including a bracket 10, on which a bearing support 2, a rotation angle and torque sensor 4, an external excitation coil 5, an idler bearing bracket 12 and a motor are sequentially arranged 9;

力感模拟系统:根据方向盘1的转角信号,用于产生理论方向盘力矩的大小和方向;包括方向盘1、轴承支架2、联轴器3、转角及转矩传感器4、转向柱13、转向柱轴承14、力感控制器27;托架10上依次设置有轴承支架2和转角及转矩传感器4,转向柱13通过转向柱轴承14固定到轴承支架2上,方向盘1与转向柱13刚性连接,转向柱13通过联轴器3与转角及转矩传感器4的一端刚性连接,转角及转矩传感器4通过信号线与力感控制器27连接;Force-sensing simulation system: according to the rotation angle signal of the steering wheel 1, it is used to generate the magnitude and direction of the theoretical steering wheel torque; including the steering wheel 1, the bearing bracket 2, the coupling 3, the rotation angle and torque sensor 4, the steering column 13, and the steering column bearing 14. Force sense controller 27; the bracket 10 is provided with a bearing bracket 2 and a rotation angle and torque sensor 4 in sequence, the steering column 13 is fixed to the bearing bracket 2 through the steering column bearing 14, the steering wheel 1 is rigidly connected to the steering column 13, The steering column 13 is rigidly connected to one end of the rotation angle and torque sensor 4 through the coupling 3, and the rotation angle and torque sensor 4 is connected to the force-sensing controller 27 through the signal line;

力感控制系统:根据理论方向盘力矩产生相应的控制信号,用于控制电机9转速和磁流变液黏度;包括电机控制器26、电机驱动器25、磁流变液控制器28、电流发生器29,如图4所示,转角及转矩传感器4通过信号线与力感控制器27和磁流变液控制器28连接,力感控制器27通过信号线依次与磁流变液控制器28、电流发生器29和外励磁线圈5/内励磁线圈19连接,电机控制器26通过信号线依次与电机驱动器25和电机9连接;Force-sense control system: generate corresponding control signals according to the theoretical steering wheel torque to control the speed of the motor 9 and the viscosity of the magneto-rheological fluid; including a motor controller 26, a motor driver 25, a magnetorheological fluid controller 28, and a current generator 29 , as shown in Figure 4, the rotation angle and torque sensor 4 is connected with the force sense controller 27 and the magnetorheological fluid controller 28 through the signal line, and the force sense controller 27 is connected with the magnetorheological fluid controller 28, The current generator 29 is connected to the external excitation coil 5/inner excitation coil 19, and the motor controller 26 is connected to the motor driver 25 and the motor 9 in sequence through the signal line;

力感产生系统:用于接收方向盘1力感的转角信号并依照电磁作用和黏性液体传动作用产生实际力矩;包括联轴器3、外励磁线圈5、锥齿轮及与其固连的大套筒6、锥齿轮及与其固连的小套筒8、电机9、隔磁套筒轴承15、外密封圈16、外轴承17、内轴承18、内励磁线圈19、磁流变液20、内密封圈21、小套筒轴承22、支撑轴承23、隔磁套筒24,如图5-9所示,转角及转矩传感器4的另一端通过联轴器与隔磁套筒24相连接,隔磁套筒24通过隔磁套筒轴承15连接到轴承支架上,电机9的输出端通过联轴器与锥齿轮及与其固连的小套筒8连接,锥齿轮及与其固连的小套筒8通过小套筒轴承22固定连接在托架10的轴承支架上,锥齿轮及与其固连的小套筒8通过两个内轴承18和两个支撑轴承23连接到隔磁套筒24,锥齿轮及与其固连的小套筒8与隔磁套筒24之间充满磁流变液20其连接处设有内密封圈21,内励磁线圈19分别缠绕在隔磁套筒24中间轴的两侧上,惰轮7通过惰轮轴承11固定连接在惰轮轴承支架12上,锥齿轮及与其固连的小套筒8上的锥齿轮通过两个惰轮7与锥齿轮及与其固连的大套筒6上的锥齿轮啮合,锥齿轮及与其固连的大套筒6通过两个外轴承17连接到隔磁套筒24,锥齿轮及与其固连的大套筒6与隔磁套筒24之间充满磁流变液20其连接处设有外密封圈16,外励磁线圈5分别缠绕于隔磁套筒24外周的两侧;Force-sensing generating system: used to receive the force-sensing rotation angle signal of the steering wheel 1 and generate actual torque according to the electromagnetic action and viscous fluid transmission action; including the coupling 3, the external excitation coil 5, the bevel gear and the large sleeve fixed to it 6. Bevel gear and its small sleeve 8, motor 9, magnetic isolation sleeve bearing 15, outer sealing ring 16, outer bearing 17, inner bearing 18, inner excitation coil 19, magnetorheological fluid 20, inner seal Ring 21, small sleeve bearing 22, support bearing 23, and magnetic isolation sleeve 24, as shown in Figure 5-9, the other end of the rotation angle and torque sensor 4 is connected with the magnetic isolation sleeve 24 through a coupling, and the isolation The magnetic sleeve 24 is connected to the bearing bracket through the magnetic isolation sleeve bearing 15, the output end of the motor 9 is connected with the bevel gear and the small sleeve 8 fixedly connected with it through the shaft coupling, and the bevel gear and the small sleeve 8 fixedly connected with it 8 is fixedly connected to the bearing bracket of the bracket 10 through a small sleeve bearing 22, the bevel gear and the small sleeve 8 fixedly connected to it are connected to the magnetic isolation sleeve 24 through two inner bearings 18 and two supporting bearings 23, and the bevel gear The magneto-rheological fluid 20 is filled with the magneto-rheological fluid 20 between the gear and the small sleeve 8 fixedly connected with it and the magnetic isolation sleeve 24, and an inner sealing ring 21 is provided at the joint, and the inner excitation coil 19 is respectively wound on both ends of the intermediate shaft of the magnetic isolation sleeve 24. On the side, the idler 7 is fixedly connected on the idler bearing bracket 12 through the idler bearing 11, and the bevel gear on the small sleeve 8 fixedly connected with it passes through the two idler 7 and the bevel gear and the fixedly connected one The bevel gear on the large sleeve 6 meshes, the bevel gear and the large sleeve 6 fixed to it are connected to the magnetic isolation sleeve 24 through two outer bearings 17, the bevel gear and the large sleeve 6 fixed to it are connected to the magnetic isolation sleeve The tubes 24 are filled with magnetorheological fluid 20, and the joints are provided with outer sealing rings 16, and the outer excitation coils 5 are respectively wound on both sides of the outer periphery of the magnetic isolation sleeve 24;

换向系统:用于使由电机9驱动的锥齿轮及与其固连的小套筒8与锥齿轮及与其固连的大套筒6始终保持反向运动,产生相反方向的力感;包括锥齿轮及与其固连的大套筒6、惰轮7、锥齿轮及与其固连的小套筒8,锥齿轮及与其固连的小套筒8上的锥齿轮通过两个惰轮7与锥齿轮及与其固连的大套筒6上的锥齿轮啮合;该结构零件简单,加工成本较低,安装方便,且能够轻松的完成等速换向的功能;Reversing system: used to keep the bevel gear driven by the motor 9 and the small sleeve 8 fixedly connected to it, and the bevel gear and the large sleeve 6 fixedly connected to it to keep moving in the opposite direction at all times to generate a sense of force in the opposite direction; Gear and its fixed large sleeve 6, idler 7, bevel gear and its fixed small sleeve 8, the bevel gear and the bevel gear on its fixed small sleeve 8 pass through two idler 7 and bevel The gear meshes with the bevel gear on the large sleeve 6 fixedly connected to it; the structural parts are simple, the processing cost is low, the installation is convenient, and the function of constant speed reversing can be easily completed;

供电系统:用于为装置提供电能;电源30通过供电线分别与转角及转矩传感器4、电机9、力感控制器27、电机控制器26、电机驱动器25、磁流变液控制器28、电流发生器29相连接。Power supply system: used to provide electric energy for the device; the power supply 30 is respectively connected to the angle and torque sensor 4, the motor 9, the force sense controller 27, the motor controller 26, the motor driver 25, the magnetorheological fluid controller 28, A current generator 29 is connected.

电机控制器27用于控制电机9匀速旋转,保证电机9在有负载波动工况下能够维持匀速旋转驱动锥齿轮及与其固连的小套筒8和锥齿轮及与其固连的大套筒6转动,电机控制器26产生PWM控制信号传递给电机驱动器25用于控制电机9;The motor controller 27 is used to control the uniform rotation of the motor 9, so as to ensure that the motor 9 can maintain the uniform rotation of the driving bevel gear and the small sleeve 8 and the bevel gear and the large sleeve 6 fixed to it under the condition of load fluctuation. rotation, the motor controller 26 generates a PWM control signal and passes it to the motor driver 25 for controlling the motor 9;

电机驱动器25接收电机控制器26产生的PWM控制信号,并将其输送给电机9,使得电机9能够维持预先设定的转速;The motor driver 25 receives the PWM control signal generated by the motor controller 26, and delivers it to the motor 9, so that the motor 9 can maintain a preset rotating speed;

锥齿轮及与其固连的小套筒8用于产生一个方向的转动以及驱动力矩,可以绕自身轴线旋转;The bevel gear and the small sleeve 8 fixed to it are used to generate rotation and driving torque in one direction, and can rotate around its own axis;

锥齿轮及与其固连的大套筒6用于产生另一个方向的转动以及驱动力矩,可以绕自身轴线旋转;The bevel gear and the large sleeve 6 fixed to it are used to generate rotation and driving torque in another direction, and can rotate around its own axis;

隔磁套筒24用于接受来自不同转筒的驱动力矩,并能够在两套转筒系统之间起到隔磁的作用;The magnetic isolation sleeve 24 is used to accept the driving torque from different drums, and can play the role of magnetic isolation between the two drum systems;

外励磁线圈5和内励磁线圈19缠绕方向不同,不同的缠绕方式能够节省空间,在有限的空间下实现磁场的最大化利用。The outer excitation coil 5 and the inner excitation coil 19 have different winding directions, and the different winding methods can save space, and realize the maximum utilization of the magnetic field in a limited space.

磁流变液控制器28根据理论方向盘力矩的大小得出外励磁线圈5或者内励磁线圈19应接收的理论电流的数值,并将该数值传递给电流发生器29,然后磁流变液控制器28根据理论方向盘力矩的方向得出应该向哪一套套筒系统的励磁线圈供电,确保实际产生的力感方向与理论方向盘力矩一致,电流发生器29拥有两个通道,分别连接着外励磁线圈5和内励磁线圈19,磁流变液控制器28根据理论方向盘力矩的大小以及方向得出应该向外励磁线圈5或者内励磁线圈19其中哪一个提供多大的电流数值,然后电流发生器29通过相应的通道予以执行,无论哪一个励磁线圈被供电,另一个都没有电流,确保双套筒系统只有一套在工作,另一套空转,磁流变液控制器28还能接收转角及转矩传感器4输出的转矩信号,根据理论方向盘力矩的数值和实际力矩的数值进行反馈调节,确保最终传递给驾驶员的力矩与理论方向盘力矩相等。The magnetorheological fluid controller 28 obtains the numerical value of the theoretical current that the external excitation coil 5 or the internal excitation coil 19 should receive according to the magnitude of the theoretical steering wheel torque, and transmits the numerical value to the current generator 29, and then the magnetorheological fluid controller 28 According to the direction of the theoretical steering wheel torque, it is determined which set of excitation coils of the sleeve system should be powered to ensure that the direction of the actual force sense is consistent with the theoretical steering wheel torque. The current generator 29 has two channels, which are respectively connected to the external excitation coil 5 and the inner excitation coil 19, the magneto-rheological fluid controller 28 obtains according to the size and direction of the theoretical steering wheel torque, which one should provide the current value to the outer excitation coil 5 or the inner excitation coil 19, and then the current generator 29 passes the corresponding No matter which excitation coil is powered, the other has no current, ensuring that only one set of the double-sleeve system is working and the other is idling. The magneto-rheological fluid controller 28 can also receive rotation angle and torque sensors 4 The output torque signal is adjusted according to the value of the theoretical steering wheel torque and the actual torque, so as to ensure that the final torque transmitted to the driver is equal to the theoretical steering wheel torque.

锥齿轮式磁流变液双转筒力感反馈装置的使用方法应用锥齿轮式磁流变液双转筒力感反馈装置,具体按照以下步骤进行:The method of using the bevel gear magneto-rheological fluid double-drum force-sensing feedback device is applied to the bevel gear-type magnetorheological fluid double-drum force-sensing feedback device, and the specific steps are as follows:

步骤一、在驾驶过程中转动方向盘1,转角及转矩传感器4检测方向盘1转角的大小以及方向并将其传递给力感控制器27,回正力矩由主销内倾回正力矩MA和轮胎拖距回正力矩MY组成,MA=QDsinβsinδ,Q=mg·b/L,其中,MA为主销内倾回正力矩,Q为轮胎载荷,D为主销内移距离,β为主销内倾角,δ为前轮转角,m为车辆质量,g为重力加速度,b为车辆质心至后轴的距离,L为轴距;MY=FY(ξ'+ξ”), 其中,MY为轮胎拖距回正力矩,FY为侧向力,ξ'为气胎拖距,ξ”为后倾拖距,v为车速,R为转弯半径,k2为后轮侧倾刚度,k1为前轮侧倾刚度,a为车辆质心至前轴的距离,阻尼力矩MD=Bs·δs+Q·f·sign(δs),其中,Bs为转向系统折算至转向柱13的阻尼系数,δs为方向盘1转角,f为轮胎与地面摩擦系数,sign表示取符号算子;理论方向盘力矩其中,i为转向系统传动比,p为助力系统助力系数,F(δs)为理论方向盘力矩与方向盘1转角δs之间的函数,力感控制器27得出理论方向盘力矩的大小以及方向并传递给磁流变液控制器28;Step 1. Turn the steering wheel 1 during driving, and the angle and torque sensor 4 detects the size and direction of the steering wheel 1 angle and transmits it to the force-sensing controller 27. The reclining moment M Y is composed of M A = QDsinβsinδ, Q = mg b/L, where M A is the inclination moment of the main pin, Q is the tire load, D is the inward movement distance of the main pin, and β is the main pin Inner inclination, δ is the front wheel rotation angle, m is the mass of the vehicle, g is the acceleration of gravity, b is the distance from the center of mass of the vehicle to the rear axle, L is the wheelbase; M Y = F Y (ξ'+ξ"), Among them, M Y is the tire trailing moment, F Y is the lateral force, ξ' is the pneumatic tire trail, ξ" is the caster trail, v is the vehicle speed, R is the turning radius, k 2 is the rear wheel side tilt stiffness, k 1 is the front wheel roll stiffness, a is the distance from the center of mass of the vehicle to the front axle, the damping moment M D =B s ·δ s +Q·f·sign(δ s ), where B s is the steering system Converted to the damping coefficient of the steering column 13, δ s is the rotation angle of the steering wheel 1, f is the friction coefficient between the tire and the ground, and sign represents a sign operator; the theoretical steering wheel torque Wherein, i is the transmission ratio of the steering system, p is the power assist coefficient of the power assist system, F(δ s ) is a function between the theoretical steering wheel torque and the steering wheel 1 rotation angle δ s , and the force sense controller 27 obtains the magnitude and direction of the theoretical steering wheel torque And delivered to the magnetorheological fluid controller 28;

步骤二、电机控制器26通过电机驱动器25控制电机9维持旋转,隔磁套筒24被磁流变液20包围,随时准备接收转筒的驱动力矩并通过转角及转矩传感器4传递给方向盘1,τ0=1150B4-2140B3+1169B2-64B+0.8,其中,T1为隔磁套筒24和锥齿轮及与其固连的小套筒8之间实际输出的力矩,T2为隔磁套筒24和锥齿轮及与其固连的大套筒6之间实际输出的力矩;L1为有效工作长度;R1为锥齿轮及与其固连的小套筒(8)工作半径;R2为隔磁套筒24的有效工作半径;R3为锥齿轮及与其固连的大套筒6工作半径;τ0为磁流变液20剪切磁致应力;最终接收哪一个转筒的驱动力矩由磁流变液20的黏度决定该套转筒系统则能够将与锥齿轮及与其固连的套筒的驱动力矩传递给隔磁套筒24,最终传递给驾驶员,一套转筒系统工作的同时另一套的励磁线圈没有电流,进行空转;Step 2: The motor controller 26 controls the motor 9 to maintain rotation through the motor driver 25, and the magnetic isolation sleeve 24 is surrounded by the magneto-rheological fluid 20, and is ready to receive the driving torque of the drum at any time and transmit it to the steering wheel 1 through the rotation angle and torque sensor 4 , τ 0 =1150B 4 -2140B 3 +1169B 2 -64B+0.8, Among them, T1 is the actual output torque between the magnetic isolation sleeve 24 and the bevel gear and the small sleeve 8 fixedly connected with it, and T2 is the torque between the magnetic isolation sleeve 24 and the bevel gear and the large sleeve 6 fixedly connected with it. L1 is the effective working length; R1 is the working radius of the bevel gear and the small sleeve (8) fixedly connected with it; R2 is the effective working radius of the magnetic isolation sleeve 24; R3 is the bevel gear and the working radius of the large sleeve 6 fixedly connected with it; τ0 is the shear magneto-induced stress of the magneto-rheological fluid 20; which rotating cylinder finally receives the driving torque is determined by the viscosity of the magnetorheological fluid 20, and the rotating cylinder system is The driving torque of the bevel gear and the sleeve fixedly connected with it can be transmitted to the magnetic isolation sleeve 24, and finally transmitted to the driver. While one set of rotary drum system is working, the other set of excitation coils has no current and performs idling;

步骤三、磁流变液控制器28根据理论方向盘力矩M1的大小得出励磁线圈的理论电流大小,根据理论方向盘力矩的方向得出应该向哪个励磁线圈供电,τ0=1150B4-2140B3+1169B2-64B+0.8,其中,B为磁感应强度;μ为介质磁导率,N为励磁线圈匝数,I为励磁线圈电流,l为磁路长度,然后通过电流发生器29予以执行磁流变液控制器28还能接收转角及转矩传感器4输出的转矩信号,根据理论方向盘力矩的数值和实际力矩的数值进行反馈调节,ΔT=M1-T,其中,T为锥齿轮及其固连的套筒与隔磁套筒24间实际方向盘反馈力矩,ΔT为反馈力矩补偿量,确保最终传递给驾驶员的力矩与理论方向盘力矩相等。Step 3: The magnetorheological fluid controller 28 obtains the theoretical current of the excitation coil according to the magnitude of the theoretical steering wheel torque M 1 , and obtains which excitation coil should be supplied with power according to the direction of the theoretical steering wheel torque, τ 0 =1150B 4 -2140B 3 +1169B 2 -64B+0.8, Wherein, B is the magnetic induction intensity; μ is the medium magnetic permeability, N is the number of turns of the exciting coil, I is the current of the exciting coil, and l is the length of the magnetic circuit, and then the magnetorheological fluid controller 28 can also be executed by the current generator 29 Receive the torque signal output by the rotation angle and torque sensor 4, and perform feedback adjustment according to the value of the theoretical steering wheel torque and the value of the actual torque, ΔT=M 1 -T, where T is the bevel gear and its fixed sleeve and spacer The actual steering wheel feedback torque between the magnetic sleeves 24, ΔT is the feedback torque compensation amount, so as to ensure that the final torque transmitted to the driver is equal to the theoretical steering wheel torque.

实施例Example

从该发明装置的方向盘1正面观看,电机9顺时针匀速旋转,则齿圈及与其固连的小套筒8也顺时针匀速旋转,但在换向系统的作用下锥齿轮及与其固连的大套筒6逆时针匀速旋转,由于磁流变液20产生的驱动力矩与转速差无关,因此正反向转速不同对系统并没有影响;此时驾驶员从零位逆时针转动方向盘1,力感控制器27决策出理论方向盘力矩的大小之后,通过磁流变液控制器28决策出励磁线圈的理论电流,与此同时力感控制器27决策出理论方向盘力矩的方向应该为顺时针,则磁流变液控制器28控制电流发生器29,选择向锥齿轮及与其固连的小套筒8对应的内励磁线圈19进行供电,于是内励磁线圈19向其外部的磁流变液20产生磁场,改变磁流变液20的黏度至合适大小,在顺时针转动的锥齿轮及与其固连的小套筒8的作用下,隔磁套筒24将产生与理论方向盘力矩大小相等的顺时针反馈力矩传递至方向盘1上,由于隔磁套筒24的隔磁作用,此时锥齿轮及与其固连的大套筒6空转,如若此时驾驶员从零位顺时针转动方向盘1,力感控制器27决策出理论方向盘力矩的大小之后,通过磁流变液控制器28决策出励磁线圈的理论电流,与此同时力感控制器27决策出理论方向盘力矩的方向应该为逆时针,则磁流变液控制器28控制电流发生器29,选择向与锥齿轮及与其固连的大套筒6相关的外励磁线圈5进行供电,于是外励磁线圈向其内部的磁流变液20产生磁场,改变磁流变液20的黏度至合适大小,在逆时针转动的锥齿轮及与其固连的大套筒6的作用下,隔磁套筒24将产生与理论方向盘力矩大小相等的逆时针反馈力矩传递至方向盘1上,由于隔磁套筒24的隔磁作用,此时锥齿轮及与其固连的小套筒8空转。Viewed from the front of the steering wheel 1 of the inventive device, the motor 9 rotates clockwise at a constant speed, and the ring gear and the small sleeve 8 fixed to it also rotates clockwise at a constant speed. The large sleeve 6 rotates counterclockwise at a constant speed. Since the driving torque generated by the magneto-rheological fluid 20 has nothing to do with the speed difference, the difference in forward and reverse speeds has no effect on the system; at this time, the driver turns the steering wheel 1 counterclockwise from the zero position, and the force After the sense controller 27 determines the magnitude of the theoretical steering wheel torque, the magneto-rheological fluid controller 28 determines the theoretical current of the excitation coil. At the same time, the force sense controller 27 determines that the direction of the theoretical steering wheel torque should be clockwise, then The magneto-rheological fluid controller 28 controls the current generator 29, and selects to supply power to the inner excitation coil 19 corresponding to the bevel gear and the small sleeve 8 fixedly connected to it, so that the inner excitation coil 19 generates power to the magnetorheological fluid 20 outside it. The magnetic field changes the viscosity of the magnetorheological fluid 20 to an appropriate size. Under the action of the bevel gear rotating clockwise and the small sleeve 8 fixed to it, the magnetic isolation sleeve 24 will generate a clockwise torque equal to the theoretical steering wheel torque. The feedback torque is transmitted to the steering wheel 1. Due to the magnetic isolation effect of the magnetic isolation sleeve 24, the bevel gear and the large sleeve 6 fixed to it are idling at this time. If the driver turns the steering wheel 1 clockwise from the zero position, the force will After the controller 27 determines the magnitude of the theoretical steering wheel torque, the magneto-rheological fluid controller 28 determines the theoretical current of the excitation coil. The rheological fluid controller 28 controls the current generator 29 to selectively supply power to the external excitation coil 5 related to the bevel gear and the large sleeve 6 fixed to it, so that the external excitation coil generates a magnetic field to the magnetorheological fluid 20 inside it , change the viscosity of the magnetorheological fluid 20 to an appropriate size, under the action of the bevel gear rotating counterclockwise and the large sleeve 6 fixed to it, the magnetic isolation sleeve 24 will generate counterclockwise feedback equal to the theoretical steering wheel torque The torque is transmitted to the steering wheel 1. Due to the magnetic isolation effect of the magnetic isolation sleeve 24, the bevel gear and the small sleeve 8 fixedly connected with it are idling.

经过磁流变液控制器28的控制以及双套转筒系统的执行,而且电流发生器29随时切换供电通道,该发明在方向盘1的任意位置下输出任意大小和方向的力矩,整个控制过程没有电机9换向的存在,因此系统的响应速度将由磁流变液20的响应速度决定,而磁流变液20的响应速度在毫秒级,因此该发明比现有传统的力感反馈装置更具优势。After the control of the magnetorheological fluid controller 28 and the execution of the double drum system, and the current generator 29 switches the power supply channel at any time, the invention can output torque of any size and direction at any position of the steering wheel 1, and the whole control process has no The existence of the commutation of the motor 9, so the response speed of the system will be determined by the response speed of the magnetorheological fluid 20, and the response speed of the magnetorheological fluid 20 is at the millisecond level, so this invention has more advantages than the existing traditional force feedback device Advantage.

以上所述仅为本发明的较佳实施例而已,并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等,均包含在本发明的保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims (4)

1.锥齿轮磁流变液双转筒力感反馈装置,其特征在于,包括托架(10),托架(10)上依次设有轴承支座(2)、转角及转矩传感器(4)、外励磁线圈(5)、惰轮轴承支架(12)和电机(9),转向柱(13)通过转向柱轴承(14)固定在轴承支架(2)上,方向盘(1)与转向柱(13)刚性连接,转向柱(13)通过联轴器(3)与转角及转矩传感器(4)的一端相连接,转角及转矩传感器(4)的另一端通过联轴器与隔磁套筒(24)相连接,隔磁套筒(24)通过隔磁套筒轴承(15)连接到轴承支架上,电机(9)的输出端通过联轴器与锥齿轮及与其固连的小套筒(8)固定连接,锥齿轮及与其固连的小套筒(8)通过小套筒轴承(22)固定连接到托架(10)的轴承支架上,锥齿轮及与其固连的小套筒(8)通过两个内轴承(18)和两个支撑轴承(23)连接到隔磁套筒(24),锥齿轮及与其固连的小套筒(8)与隔磁套筒(24)之间充满磁流变液(20)其连接处设有内密封圈(21),内励磁线圈(19)分别缠绕在隔磁套筒(24)中间轴的两侧上,惰轮(7)通过惰轮轴承(11)固定连接在惰轮轴承支架(12)上,锥齿轮及与其固连的小套筒(8)上的锥齿轮通过两个惰轮(7)与锥齿轮及与其固连的大套筒(6)上的锥齿轮啮合,锥齿轮及与其固连的大套筒(6)通过两个外轴承(17)连接到隔磁套筒(24),锥齿轮及与其固连的大套筒(6)与隔磁套筒(24)之间充满磁流变液(20)其连接处设有外密封圈(16),外励磁线圈(5)分别缠绕于隔磁套筒(24)外周的两侧;转角及转矩传感器(4)通过信号线与力感控制器(27)和磁流变液控制器(28)连接,力感控制器(27)通过信号线依次与磁流变液控制器(28)、电流发生器(29)和外励磁线圈(5)/内励磁线圈(19)连接,电机控制器(26)通过信号线依次与电机驱动器(25)和电机(9)连接。1. A bevel gear magneto-rheological fluid double-drum force-sensing feedback device, characterized in that it includes a bracket (10), and the bracket (10) is sequentially provided with a bearing support (2), a rotation angle and a torque sensor (4 ), the external excitation coil (5), the idler bearing bracket (12) and the motor (9), the steering column (13) is fixed on the bearing bracket (2) through the steering column bearing (14), the steering wheel (1) and the steering column (13) Rigidly connected, the steering column (13) is connected to one end of the angle and torque sensor (4) through a coupling (3), and the other end of the angle and torque sensor (4) is connected to the magnetic isolation through a coupling The sleeve (24) is connected, the magnetic isolation sleeve (24) is connected to the bearing bracket through the magnetic isolation sleeve bearing (15), and the output end of the motor (9) is connected to the bevel gear and the small The sleeve (8) is fixedly connected, the bevel gear and the small sleeve (8) fixedly connected to it are fixedly connected to the bearing bracket of the bracket (10) through the small sleeve bearing (22), and the bevel gear and the small sleeve (8) fixedly connected to it The sleeve (8) is connected to the magnetic isolation sleeve (24) through two inner bearings (18) and two support bearings (23), and the bevel gear and the small sleeve (8) connected with it are connected to the magnetic isolation sleeve ( 24) are filled with magnetorheological fluid (20) and its connection is provided with an inner sealing ring (21), and the inner excitation coil (19) is respectively wound on both sides of the intermediate shaft of the magnetic isolation sleeve (24), and the idler ( 7) Fixedly connected to the idler bearing bracket (12) through the idler bearing (11), the bevel gear and the bevel gear on the small sleeve (8) fixedly connected with it pass through the two idler gears (7) and the bevel gear and The bevel gear meshes with the large sleeve (6) fixedly connected with it, and the bevel gear and the large sleeve (6) connected with it are connected to the magnetic isolation sleeve (24) by two outer bearings (17), and the bevel gear and The large sleeve (6) fixedly connected with it and the magnetic isolation sleeve (24) are filled with magnetorheological fluid (20). The joint is provided with an outer sealing ring (16), and the outer excitation coil (5) is wound around the isolation sleeve (24). Both sides of the outer circumference of the magnetic sleeve (24); the rotation angle and torque sensor (4) is connected with the force sense controller (27) and the magnetorheological fluid controller (28) through the signal line, and the force sense controller (27) passes through The signal wires are sequentially connected with the magnetorheological fluid controller (28), the current generator (29) and the outer excitation coil (5)/inner excitation coil (19), and the motor controller (26) is sequentially connected with the motor driver ( 25) is connected with motor (9). 2.根据权利要求1所述的锥齿轮磁流变液双转筒力感反馈装置,其特征在于,所述外励磁线圈(5)和内励磁线圈(19)缠绕方向不同。2. The force-sensing feedback device with bevel gear magneto-rheological fluid double drums according to claim 1, characterized in that the winding directions of the outer excitation coil (5) and the inner excitation coil (19) are different. 3.根据权利要求1所述的锥齿轮磁流变液双转筒力感反馈装置,其特征在于,电源(30)通过供电线分别与转角及转矩传感器(4)、电机(9)、力感控制器(27)、电机控制器(26)、电机驱动器(25)、磁流变液控制器(28)、电流发生器(29)相连接。3. The bevel gear magneto-rheological fluid double drum force-sensing feedback device according to claim 1, characterized in that the power supply (30) is connected to the rotation angle and torque sensor (4), the motor (9), The force sense controller (27), the motor controller (26), the motor driver (25), the magneto-rheological fluid controller (28), and the current generator (29) are connected. 4.一种如权利要求1-3任何一项所述的锥齿轮磁流变液双转筒力感反馈装置的使用方法,其特征在于,具体按照以下步骤进行:4. A method for using the bevel gear magneto-rheological fluid double-drum force-sensing feedback device according to any one of claims 1-3, characterized in that, the specific steps are as follows: 步骤一、在驾驶过程中转动方向盘(1),转角及转矩传感器(4)检测方向盘(1)转角的大小以及方向并将其传递给力感控制器(27),回正力矩由主销内倾回正力矩MA和轮胎拖距回正力矩MY组成,MA=QDsinβsinδ,Q=mg·b/L,其中,MA为主销内倾回正力矩,Q为轮胎载荷,D为主销内移距离,β为主销内倾角,δ为前轮转角,m为车辆质量,g为重力加速度,b为车辆质心至后轴的距离,L为轴距; 其中,MY为轮胎拖距回正力矩,FY为侧向力,ξ'为气胎拖距,ξ”为后倾拖距,v为车速,R为转弯半径,k2为后轮侧倾刚度,k1为前轮侧倾刚度,a为车辆质心至前轴的距离,阻尼力矩MD=Bs·δs+Q·f·sign(δs),其中,Bs为转向系统折算至转向柱(13)的阻尼系数,δs为方向盘(1)转角,f为轮胎与地面摩擦系数,sign表示取符号算子;理论方向盘力矩其中,i为转向系统传动比,p为助力系统助力系数,F(δs)为理论方向盘力矩与方向盘(1)转角δs之间的函数,力感控制器(27)得出理论方向盘力矩的大小以及方向并传递给磁流变液控制器(28);Step 1. Turn the steering wheel (1) during driving. The angle and torque sensor (4) detects the size and direction of the steering wheel (1) angle and transmits it to the force-sensing controller (27). The righting moment M A is composed of the tire trailing moment M Y , M A = QDsinβsinδ, Q = mg b/L, among them, M A is the inclination and righting moment of the main pin, Q is the tire load, and D is the main pin Inner distance, β is the inclination angle of the main pin, δ is the front wheel rotation angle, m is the mass of the vehicle, g is the acceleration of gravity, b is the distance from the center of mass of the vehicle to the rear axle, and L is the wheelbase; Among them, M Y is the tire trailing moment, F Y is the lateral force, ξ' is the pneumatic tire trail, ξ" is the caster trail, v is the vehicle speed, R is the turning radius, k 2 is the rear wheel side tilt stiffness, k 1 is the front wheel roll stiffness, a is the distance from the center of mass of the vehicle to the front axle, the damping moment M D =B s ·δ s +Q·f·sign(δ s ), where B s is the steering system Converted to the damping coefficient of the steering column (13), δ s is the steering wheel (1) rotation angle, f is the friction coefficient between the tire and the ground, and sign represents a sign operator; the theoretical steering wheel torque Among them, i is the transmission ratio of the steering system, p is the power assist coefficient of the power assist system, F(δ s ) is the function between the theoretical steering wheel torque and the steering wheel (1) rotation angle δ s , and the force sense controller (27) obtains the theoretical steering wheel torque The size and direction of and passed to the magnetorheological fluid controller (28); 步骤二、电机控制器(26)通过电机驱动器(25)控制电机(9)维持旋转,隔磁套筒(24)被磁流变液(20)包围,随时准备接收转筒的驱动力矩并通过转角及转矩传感器(4)传递给方向盘(1),τ0=1150B4-2140B3+1169B2-64B+0.8,其中,T1为隔磁套筒(24)和锥齿轮及与其固连的小套筒(8)之间实际输出的力矩,T2为隔磁套筒(24)和锥齿轮及与其固连的大套筒(6)之间实际输出的力矩;L1为有效工作长度;R1为锥齿轮及与其固连的小套筒(8)工作半径;R2为隔磁套筒(24)的有效工作半径;R3为锥齿轮及与其固连的大套筒(6)工作半径;τ0为磁流变液(20)剪切磁致应力;最终接收哪一个转筒的驱动力矩由磁流变液(20)的黏度决定该套转筒系统则能够将与锥齿轮及与其固连的套筒的驱动力矩传递给隔磁套筒(24),最终传递给驾驶员,一套转筒系统工作的同时另一套的励磁线圈没有电流,进行空转;Step 2, the motor controller (26) controls the motor (9) to maintain rotation through the motor driver (25), and the magnetic isolation sleeve (24) is surrounded by the magnetorheological fluid (20), ready to receive the driving torque of the drum at any time and pass through The angle and torque sensor (4) is transmitted to the steering wheel (1), τ 0 =1150B 4 -2140B 3 +1169B 2 -64B+0.8, Among them, T 1 is the actual output torque between the magnetic isolation sleeve (24) and the bevel gear and the small sleeve (8) fixed to it, and T 2 is the magnetic isolation sleeve (24) and the bevel gear and the small sleeve (8) fixed to it. The actual output torque between the large sleeves (6); L 1 is the effective working length; R 1 is the working radius of the bevel gear and the small sleeve (8) fixed to it; R 2 is the magnetic isolation sleeve (24) R 3 is the working radius of the bevel gear and the large sleeve (6) fixedly connected with it; τ 0 is the shear magneto-induced stress of the magnetorheological fluid (20); the driving torque of which rotating cylinder is finally received is determined by The viscosity of the magnetorheological fluid (20) determines that the sleeve system can transmit the driving torque of the bevel gear and the sleeve fixed to it to the magnetic isolation sleeve (24), and finally to the driver. While the cylinder system is working, the excitation coil of the other set has no current and is idling; 步骤三、磁流变液控制器(28)根据理论方向盘力矩M1的大小得出励磁线圈的理论电流大小,根据理论方向盘力矩的方向得出应该向哪个励磁线圈供电,τ0=1150B4-2140B3+1169B2-64B+0.8,其中,B为磁感应强度;μ为介质磁导率,N为励磁线圈匝数,I为励磁线圈电流,l为磁路长度,然后通过电流发生器(29)予以执行;磁流变液控制器(28)还能接收转角及转矩传感器(4)输出的转矩信号,根据理论方向盘力矩的数值和实际力矩的数值进行反馈调节,ΔT=M1-T,其中,T为锥齿轮及其固连的套筒与隔磁套筒(24)间实际方向盘反馈力矩,ΔT为反馈力矩补偿量,确保最终传递给驾驶员的力矩与理论方向盘力矩相等。Step 3: The magnetorheological fluid controller (28) obtains the theoretical current of the excitation coil according to the theoretical steering wheel torque M 1 , and obtains which excitation coil should be supplied with power according to the direction of the theoretical steering wheel torque, τ 0 =1150B 4 - 2140B 3 +1169B 2 -64B+0.8, Wherein, B is the magnetic induction intensity; μ is the magnetic permeability of the medium, N is the number of turns of the excitation coil, I is the current of the excitation coil, and l is the length of the magnetic circuit, which is then implemented by the current generator (29); the magnetorheological fluid controller (28) can also receive the torque signal output by the rotation angle and torque sensor (4), and perform feedback adjustment according to the numerical value of the theoretical steering wheel torque and the numerical value of the actual torque, ΔT=M 1 -T, wherein, T is a bevel gear and its The actual steering wheel feedback torque between the fixed sleeve and the magnetic isolation sleeve (24), ΔT is the feedback torque compensation amount, to ensure that the final torque delivered to the driver is equal to the theoretical steering wheel torque.
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