CN108394460B - Bevel gear magneto-rheological fluid force feedback device and using method thereof - Google Patents

Abstract

The invention discloses a bevel gear magneto-rheological fluid force-sensing feedback device and a method for using the same. The bevel gear magneto-rheological fluid force-sensing feedback device includes a force-sensing simulation system, a force-sensing control system, a force-sensing generating system, and a reversing system and power supply system. The bevel gear mechanism of the present invention is equal to the forward and reverse rotation speeds, the bevel gear structure is simple, 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. The coaxiality precision of the mechanism is high.

Description

Bevel gear magnetorheological fluid force feedback device and use method thereof

Technical Field

The invention belongs to the field of automobile electronic control and intelligence, and relates to a bevel gear magnetorheological fluid force feedback device and a use method thereof.

Background Art

Traditional vehicle road tests have the disadvantages of high cost, long time, limited site conditions, and prone to accidents under extreme working conditions. It is the current mainstream trend to use automobile driving simulation systems to replace traditional vehicle road tests. A mature driving simulation system can more realistically reflect the vehicle's motion state, road conditions, surrounding environment, and various body and force sensations, greatly reducing the capital cost, time cost, and labor cost of vehicle road tests. Among them, accurate steering wheel force feedback is indispensable, which largely determines whether the driver can make corresponding operations according to the given route or driving intention, and is crucial to the driver's operational decision. The traditional force feedback device is mainly composed of a torque motor with a reduction mechanism, but it has the disadvantages of uneven control, large delay and jitter, complex mechanical connection device, and easy motor jamming. Some of the existing technologies can solve the problem of constant speed rotation commutation, but due to its mechanical structure and pneumatic power source, the commutation delay is large. Although the planetary gear can commutate quickly, it cannot achieve constant speed commutation, so it cannot be used in some working conditions with strict requirements for constant speed. The application number is 201410021814.3, the invention name is "Handle Quick Reversal Mechanism", the publication date is May 14, 2014, and a handle quick reversal structure is proposed. The invention is a translational reversal. The application number is 201310329852.0, the invention name is "A Quick Reversal System", the publication date is February 11, 2015, and the application proposes a quick reversal system. The quick reversal structure of the invention uses a mechanical structure, and the reversing time is relatively long.

Magnetorheological fluid is a smart material, which is a suspension formed by dispersing micron-sized magnetically polarized particles in non-magnetic liquid (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 more than several orders of magnitude in a short time (milliseconds), and it exhibits solid-like properties, has a certain shear yield stress, and this change is continuous and reversible, that is, it returns to the original flow state after the magnetic field is removed, and this characteristic is little affected by other external factors (such as temperature). The magnetorheological effect of magnetorheological fluid provides it with a wide range of application prospects in engineering practice.

Summary of the invention

To achieve the above objectives, the present invention provides a bevel gear magnetorheological fluid force feedback device and a method of using the same, which solves the problems in the prior art of delayed jitter and uneven control of the force feedback device, complex mechanical connection devices, inability to achieve forward and reverse constant speed rotation, and easy jamming.

The technical solution adopted by the present invention is that the bevel gear magnetorheological fluid double-drum force feedback device includes a bracket, on which a bearing support, an angle and torque sensor, an external excitation coil, an idler bearing bracket and a motor are arranged in sequence, the steering column is fixed to the bearing bracket through a steering column bearing, the steering wheel is rigidly connected to the steering column, the steering column is connected to one end of the angle and torque sensor through a coupling, the other end of the angle and torque sensor is connected to a magnetic isolation sleeve through a coupling, the magnetic isolation sleeve is connected to the bearing bracket through a magnetic isolation sleeve bearing, the output end of the motor is fixedly connected to the bevel gear and a small sleeve fixedly connected thereto through a coupling, the bevel gear and the small sleeve fixedly connected thereto are fixedly connected to the bearing bracket of the bracket through a small sleeve bearing, the bevel gear and the small sleeve fixedly connected thereto are connected to the magnetic isolation sleeve through two inner bearings and two support bearings, the bevel gear and the small sleeve fixedly connected thereto are connected to the magnetic isolation sleeve The sleeves are filled with magnetorheological fluid, and an inner sealing ring is provided at the connection. The inner excitation coil is respectively wound on both sides of the intermediate shaft of the magnetic isolation sleeve. The idler is fixedly connected to the idler bearing bracket through an idler bearing. The bevel gear and the bevel gear on the small sleeve fixedly connected to it are meshed with the bevel gear and the bevel gear on the large sleeve fixedly connected to it through two idlers. The bevel gear and the large sleeve fixedly connected to it are connected to the magnetic isolation sleeve through two outer bearings. The bevel gear and the large sleeve fixedly connected to it are filled with magnetorheological fluid and an outer sealing ring is provided at the connection. The outer excitation coil is respectively wound on both sides of the outer periphery of the magnetic isolation sleeve. The angle and torque sensor is connected to the force sensing controller and the magnetorheological fluid controller through signal lines. The force sensing controller is connected to the magnetorheological fluid controller, the current generator and the external excitation coil/internal excitation coil in sequence through signal lines. The motor controller is connected to the motor driver and the motor in sequence through signal lines.

Furthermore, the outer excitation coil and the inner excitation coil have different winding directions.

Furthermore, the power supply is connected to the angle and torque sensor, the motor, the force sensing controller, the motor controller, the motor driver, the magnetorheological fluid controller, and the current generator through power supply lines.

Another technical solution adopted by the present invention is a method for using the bevel gear magnetorheological fluid double-drum force feedback device, which is specifically carried out according to the following steps:

其中，M_Y为轮胎拖距回正力矩，F_Y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M_D＝B_s·δ_s+Q·f·sign(δ_s)，其中，B_s为转向系统折算至转向柱的阻尼系数，δ_s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(δ_s)为理论方向盘力矩与方向盘转角δ_s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 steering angle and torque sensor detects the size and direction of the steering wheel angle and transmits it to the force controller. The self-aligning torque is composed of the kingpin inclination self-aligning torque _MA and the tire trail self-aligning torque _MY . _MA = QDsinβsinδ, Q = mg·b/L, where _MA is the kingpin inclination self-aligning torque, Q is the tire load, D is the kingpin inward displacement distance, β is the kingpin inclination angle, δ is the front wheel angle, m is the vehicle mass, g is the gravitational acceleration, b is the distance from the vehicle center of mass to the rear axle, and L is the wheelbase; _MY = _FY (ξ'+ξ”),

Wherein, _MY is the tire trailing torque, _FY is the lateral force, ξ' is the pneumatic trailing distance, ξ" is the caster trailing distance, v is the vehicle speed, R is the turning radius, _k2 is the rear wheel roll stiffness, _k1 is the front wheel roll stiffness, a is the distance from the vehicle center of mass to the front axle, and the damping torque _MD = _Bs · _δs +Q·f·sign( _δs ), where _Bs is the damping coefficient of the steering system converted to the steering column, _δs is the steering wheel angle, f is the friction coefficient between the tire and the ground, and sign represents the sign operator; Theoretical steering wheel torque

Wherein, i is the steering system transmission ratio, p is the power assistance coefficient of the power assistance system, F(δ _s ) is the function between the theoretical steering wheel torque and the steering wheel angle δ _s , and the force sensing controller obtains the magnitude and direction of the theoretical steering wheel torque and transmits it to the magnetorheological fluid controller;

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 magnetorheological fluid and is ready to receive the driving torque of the drum and transmit it to the steering wheel through the angle and torque sensor.

τ ₀ =1150B ⁴ -2140B ³ +1169B ² -64B+0.8,

Among them, _T1 is the actual output torque between the magnetic isolation sleeve and the bevel gear and the small sleeve fixedly connected thereto, _T2 is the actual output torque between the magnetic isolation sleeve and the bevel gear and the large sleeve fixedly connected thereto; _L1 is the effective working length; _R1 is the working radius of the bevel gear and the small sleeve fixedly connected thereto; _R2 is the effective working radius of the magnetic isolation sleeve; _R3 is the working radius of the bevel gear and the large sleeve fixedly connected thereto; _τ0 is the shear magnetostrictive stress of the magnetorheological fluid; which rotating drum finally receives the driving torque is determined by the viscosity of the magnetorheological fluid. The rotating drum system can transmit the driving torque of the bevel gear and the sleeve fixedly connected thereto to the magnetic isolation sleeve, and finally to the driver. When one set of rotating drum systems is working, the excitation coil of the other set has no current and is idling;

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 _M1 , and determines which excitation coil should be powered 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 path, and then it is executed through the current generator; the magnetorheological fluid controller can also receive the torque signal output by the angle and torque sensor, 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, among which T is the actual steering wheel feedback torque between the bevel gear and its fixed sleeve and the magnetic isolation sleeve, and ΔT is the feedback torque compensation amount, ensuring that the torque finally transmitted to the driver is equal to the theoretical steering wheel torque.

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 a bevel gear system that rotates in the opposite direction at a constant speed driven by a motor. The bevel gear mechanism has equal forward and reverse rotation speeds. The bevel gear structure is simple, easy to install, and has low manufacturing cost. Since the idler gear is fixed on the bracket, the operation is stable, and the bevel gear structure has good support for the inner and outer sleeves, and the coaxiality accuracy of the mechanism is high. The bevel gear structure can also be applied to other fast reversing structures to make the reversing delay reach the millisecond level. This structure can be used not only for force feedback devices, but also for other devices. The present invention can not only achieve the effect of fast constant speed reversing, but also control the torque after reversing. The present invention also has an adjustable function.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is an axonometric view of a bevel gear type magnetorheological fluid double-drum force feedback device;

FIG2 is a top view of a bevel gear type magnetorheological fluid double-drum force feedback device;

FIG3 is a cross-sectional view of a bevel gear type magnetorheological fluid double-drum force feedback device;

FIG4 is a control flow chart and signal transmission diagram of a bevel gear type magnetorheological fluid double-drum force feedback device;

FIG5 is an axonometric view of a magnetic isolation sleeve connected to a steering wheel by a bevel gear type magnetorheological fluid double-rotating cylinder force feedback device;

FIG6 is an isometric view of the bevel gear of the bevel gear type magnetorheological fluid double-rotating cylinder force feedback device and the small sleeve connected thereto;

FIG7 is an isometric view of the bevel gear of the bevel gear type magnetorheological fluid double-rotating cylinder force feedback device and the large sleeve connected thereto;

FIG8 is an axonometric view of the idler of a bevel gear type magnetorheological fluid double-drum force feedback device;

FIG. 9 is an axonometric view of the external excitation coil of the bevel gear type magnetorheological fluid double-drum force feedback device.

In the figure, 1. steering wheel, 2. bearing bracket, 3. coupling, 4. angle and torque sensor, 5. external excitation coil, 6. bevel gear and large sleeve fixedly connected to it, 7. idler, 8. bevel gear and small sleeve fixedly connected 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 sensing controller, 28. magnetorheological fluid controller, 29. current generator, 30. power supply.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The bevel gear magnetorheological fluid force feedback device, as shown in Figure 1-4, includes a force simulation system, a force control system, a force generation system, a commutation system and a power supply system;

The bevel gear magnetorheological fluid double-drum force feedback device comprises a bracket 10, on which a bearing support 2, an angle and torque sensor 4, an external excitation coil 5, an idler bearing bracket 12 and a motor 9 are arranged in sequence;

Force-sensing simulation system: used to generate the magnitude and direction of theoretical steering wheel torque according to the angle signal of the steering wheel 1; comprising the steering wheel 1, the bearing bracket 2, the coupling 3, the angle and torque sensor 4, the steering column 13, the steering column bearing 14, and the force-sensing controller 27; the bearing bracket 2 and the angle and torque sensor 4 are sequentially arranged on the bracket 10, 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 angle and torque sensor 4 through the coupling 3, and the angle and torque sensor 4 is connected to the force-sensing controller 27 through a signal line;

Force sensing control system: generates corresponding control signals according to theoretical steering wheel torque, which is used to control the speed of motor 9 and the viscosity of magnetorheological fluid; includes motor controller 26, motor driver 25, magnetorheological fluid controller 28, and current generator 29. As shown in FIG4 , the angle and torque sensor 4 is connected to force sensing controller 27 and magnetorheological fluid controller 28 through signal lines, the force sensing controller 27 is connected to magnetorheological fluid controller 28, current generator 29 and external excitation coil 5/internal excitation coil 19 in sequence through signal lines, and the motor controller 26 is connected to motor driver 25 and motor 9 in sequence through signal lines;

Force generating system: used for receiving the steering wheel 1 force angle signal and generating actual torque according to electromagnetic action and viscous liquid transmission action; including coupling 3, external excitation coil 5, bevel gear and large sleeve 6 connected thereto, bevel gear and small sleeve 8 connected thereto, motor 9, magnetic-isolating sleeve bearing 15, outer sealing ring 16, outer bearing 17, inner bearing 18, inner excitation coil 19, magnetorheological fluid 20, inner sealing ring 21, small sleeve bearing 22, support bearing 23, magnetic-isolating sleeve 24, as shown in FIG5-9, the other end of the angle and torque sensor 4 is connected to the magnetic-isolating sleeve 24 through a coupling, and the magnetic-isolating sleeve 24 is connected to the bearing bracket through the magnetic-isolating sleeve bearing 15, and the output end of the motor 9 is connected to the bevel gear and the small sleeve 8 connected thereto through a coupling, and the bevel gear and the small sleeve 8 connected thereto are fixedly connected to the bracket 10 through the small sleeve bearing 22. On the bearing bracket, the bevel gear and the small sleeve 8 connected thereto are connected to the magnetic isolation sleeve 24 through two inner bearings 18 and two support bearings 23. The space between the bevel gear and the small sleeve 8 connected thereto and the magnetic isolation sleeve 24 is filled with magnetorheological fluid 20, and an inner sealing ring 21 is provided at the connection. The inner excitation coil 19 is respectively wound on both sides of the intermediate shaft of the magnetic isolation sleeve 24. The idler 7 is 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 connected thereto are meshed with the bevel gear and the bevel gear on the large sleeve 6 connected thereto through two idler gears 7. The bevel gear and the large sleeve 6 connected thereto are connected to the magnetic isolation sleeve 24 through two outer bearings 17. The space between the bevel gear and the large sleeve 6 connected thereto and the magnetic isolation sleeve 24 is filled with magnetorheological fluid 20, and an outer sealing ring 16 is provided at the connection. The outer excitation coil 5 is respectively wound on both sides of the outer periphery of the magnetic isolation sleeve 24.

Reversing system: used to make the bevel gear driven by the motor 9 and the small sleeve 8 connected thereto and the bevel gear and the large sleeve 6 connected thereto always keep moving in the opposite direction, generating a force sense in the opposite direction; including the bevel gear and the large sleeve 6 connected thereto, the idler 7, the bevel gear and the small sleeve 8 connected thereto, the bevel gear on the bevel gear and the small sleeve 8 connected thereto meshes with the bevel gear and the large sleeve 6 connected thereto through two idler gears 7; 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;

Power supply system: used to provide electrical energy for the device; the power supply 30 is connected to the angle and torque sensor 4, the motor 9, the force controller 27, the motor controller 26, the motor driver 25, the magnetorheological fluid controller 28, and the current generator 29 through power supply lines.

The motor controller 27 is used to control the motor 9 to rotate at a constant speed, ensuring that the motor 9 can maintain a constant speed rotation under load fluctuation conditions to drive the bevel gear and the small sleeve 8 and the bevel gear and the large sleeve 6 connected thereto to rotate. The motor controller 26 generates a PWM control signal and transmits it to the motor driver 25 for controlling the motor 9;

The motor driver 25 receives the PWM control signal generated by the motor controller 26 and transmits it to the motor 9 so that the motor 9 can maintain a preset speed;

The bevel gear and the small sleeve 8 connected thereto are used to generate rotation and driving torque in one direction and can rotate around its own axis;

The bevel gear and the large sleeve 6 connected thereto are used to generate rotation and driving torque in another direction and can rotate around its own axis;

The magnetic isolation sleeve 24 is used to receive the driving torque from different drums and can play a magnetic isolation role between the two sets of drum systems;

The external excitation coil 5 and the internal excitation coil 19 are wound in different directions. Different winding methods can save space and maximize the use of the magnetic field in a limited space.

The magnetorheological fluid controller 28 obtains the 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 value to the current generator 29. Then, the magnetorheological fluid controller 28 obtains which set of the excitation coils of the sleeve system should be powered according to the direction of the theoretical steering wheel torque to ensure that the actual force direction 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 internal excitation coil 19. The magnetorheological fluid controller 28 obtains the 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 value to the current generator 29. The magnitude of the current should be derived from the direction of the external excitation coil 5 or the internal excitation coil 19, and then the current generator 29 executes it through the corresponding channel. No matter which excitation coil is powered, the other one has no current, ensuring that only one set of the double-sleeve system is working and the other is idling. The magnetorheological fluid controller 28 can also receive the torque signal output by the 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, ensuring that the torque finally transmitted to the driver is equal to the theoretical steering wheel torque.

Method for using the bevel gear type magnetorheological fluid double-drum force feedback device: Use the bevel gear type magnetorheological fluid double-drum force feedback device, specifically follow the following steps:

其中，M_Y为轮胎拖距回正力矩，F_Y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M_D＝B_s·δ_s+Q·f·sign(δ_s)，其中，B_s为转向系统折算至转向柱13的阻尼系数，δ_s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(δ_s)为理论方向盘力矩与方向盘1转角δ_s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 steering angle and torque sensor 4 detects the size and direction of the steering wheel 1 angle and transmits it to the force controller 27. The self-aligning torque is composed of the kingpin inclination self-aligning torque _MA and the tire trail self-aligning torque _MY . _MA = QDsinβsinδ, Q = mg·b/L, where _MA is the kingpin inclination self-aligning torque, Q is the tire load, D is the kingpin inward displacement distance, β is the kingpin inclination angle, δ is the front wheel steering angle, m is the vehicle mass, g is the gravity acceleration, b is the distance from the vehicle center of mass to the rear axle, and L is the wheelbase; _MY = _FY (ξ'+ξ”),

Wherein, _MY is the tire trailing torque, _FY is the lateral force, ξ' is the pneumatic tire trailing distance, ξ" is the caster trailing distance, v is the vehicle speed, R is the turning radius, _k2 is the rear wheel roll stiffness, _k1 is the front wheel roll stiffness, a is the distance from the vehicle mass center to the front axle, and the damping torque _MD = _Bs · _δs +Q·f·sign( _δs ), where _Bs is the damping coefficient of the steering system converted to the steering column 13, _δs is the steering wheel 1 angle, f is the friction coefficient between the tire and the ground, and sign represents the sign operator; Theoretical steering wheel torque

Wherein, i is the steering system transmission ratio, _p is the power assistance coefficient of the power assistance system, F(δ _s ) is the function between the theoretical steering wheel torque and the steering wheel 1 angle δ _s , and the force sensing controller 27 obtains the magnitude and direction of the theoretical steering wheel torque and transmits it to the magnetorheological fluid controller 28;

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. The magnetic isolation sleeve 24 is surrounded by the magnetorheological fluid 20 and is ready to receive the driving torque of the drum and transmit it to the steering wheel 1 through the angle and torque sensor 4.

τ ₀ =1150B ⁴ -2140B ³ +1169B ² -64B+0.8,

Wherein, _T1 is the actual output torque between the magnetic isolation sleeve 24 and the bevel gear and the small sleeve 8 fixed thereto, _T2 is the actual output torque between the magnetic isolation sleeve 24 and the bevel gear and the large sleeve 6 fixed thereto; _L1 is the effective working length; _R1 is the working radius of the bevel gear and the small sleeve (8) fixed thereto; _R2 is the effective working radius of the magnetic isolation sleeve 24; _R3 is the working radius of the bevel gear and the large sleeve 6 fixed thereto; _τ0 is the shear magnetostrictive stress of the magnetorheological fluid 20; which rotating drum finally receives the driving torque is determined by the viscosity of the magnetorheological fluid 20. The rotating drum system can transmit the driving torque of the bevel gear and the sleeve fixed thereto to the magnetic isolation sleeve 24, and finally to the driver. When one set of rotating drum systems is working, the excitation coil of the other set has no current and is idling;

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 _M1 , and determines which excitation coil should be powered 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 path. Then it is executed through the current generator 29. The magnetorheological fluid controller 28 can also receive the torque signal output by the 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, wherein T is the actual steering wheel feedback torque between the bevel gear and its fixed sleeve and the magnetic isolation sleeve 24, and ΔT is the feedback torque compensation amount, ensuring that the torque finally transmitted to the driver is equal to the theoretical steering wheel torque.

Example

When viewed from the front of the steering wheel 1 of the device of the invention, the motor 9 rotates clockwise at a constant speed, and the ring gear and the small sleeve 8 connected thereto also rotate clockwise at a constant speed. However, under the action of the reversing system, the bevel gear and the large sleeve 6 connected thereto rotate counterclockwise at a constant speed. Since the driving torque generated by the magnetorheological 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 after the force sensing controller 27 determines the size of the theoretical steering wheel torque, the magnetorheological fluid controller 28 The theoretical current of the excitation coil is determined. At the same time, the force sensing controller 27 determines that the direction of the theoretical steering wheel torque should be clockwise. Then the magnetorheological fluid controller 28 controls the current generator 29 to select the internal excitation coil 19 corresponding to the bevel gear and the small sleeve 8 fixed thereto for power supply. Then the internal excitation coil 19 generates a magnetic field to the magnetorheological fluid 20 outside it, changing the viscosity of the magnetorheological fluid 20 to an appropriate size. Under the action of the clockwise rotating bevel gear and the small sleeve 8 fixed thereto, the magnetic isolation sleeve 24 will generate a magnetic field corresponding to the bevel gear and the small sleeve 8 fixed thereto. The clockwise feedback torque equal to the theoretical steering wheel 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 connected thereto are idling at this time. If the driver turns the steering wheel 1 clockwise from the zero position at this time, the force sensing controller 27 determines the magnitude of the theoretical steering wheel torque, and then the magnetorheological fluid controller 28 determines the theoretical current of the excitation coil. At the same time, the force sensing controller 27 determines that the direction of the theoretical steering wheel torque should be counterclockwise, and the magnetorheological fluid controller 28 controls the current The generator 29 selects to supply power to the external excitation coil 5 associated with the bevel gear and the large sleeve 6 fixedly connected to it, so that the external excitation coil generates a magnetic field to the magnetorheological fluid 20 inside it, changing the viscosity of the magnetorheological fluid 20 to an appropriate size. Under the action of the counterclockwise rotating bevel gear and the large sleeve 6 fixedly connected to it, the magnetic isolation sleeve 24 will generate a counterclockwise feedback torque equal to the theoretical steering wheel torque and transmit it 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 to it are idling at this time.

Through the control of the magnetorheological fluid controller 28 and the execution of the double-drum system, and the current generator 29 switching the power supply channel at any time, the invention outputs torque of any size and direction at any position of the steering wheel 1. There is no commutation of the motor 9 in the entire control process. Therefore, 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 in the millisecond level. Therefore, the invention has more advantages than the existing traditional force feedback device.

The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (4)

1. A bevel gear magnetorheological fluid force feedback device, characterized in that it comprises a bracket (10), on which a bearing bracket (2), a rotation angle and torque sensor (4), an external excitation coil (5), an idler bearing bracket (12) and a motor (9) are arranged in sequence, a steering column (13) is fixed to the bearing bracket (2) through a steering column bearing (14), a steering wheel (1) is rigidly connected to the steering column (13), the steering column (13) is connected to one end of the rotation angle and torque sensor (4) through a coupling (3), and the other end of the rotation angle and torque sensor (4) is connected to a magnetic isolation device through a coupling. The motor (9) is connected to the magnetic shielding sleeve (24), the magnetic shielding sleeve (24) is connected to the bearing bracket through the magnetic shielding sleeve bearing (15), the output end of the motor (9) is fixedly connected to the bevel gear and the small sleeve (8) fixedly connected thereto through a coupling, the bevel gear and the small sleeve (8) fixedly connected thereto are fixedly connected to the bearing bracket of the bracket (10) through the small sleeve bearing (22), the bevel gear and the small sleeve (8) fixedly connected thereto are connected to the magnetic shielding sleeve (24) through two inner bearings (18) and two support bearings (23), and the space between the bevel gear and the small sleeve (8) fixedly connected thereto and the magnetic shielding sleeve (24) is filled with The magnetorheological fluid (20) is provided with an inner sealing ring (21) at its connection, the inner excitation coil (19) is respectively wound on both sides of the intermediate shaft of the magnetic isolation sleeve (24), the idler (7) is 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 thereto are meshed with the bevel gear and the bevel gear on the large sleeve (6) fixedly connected thereto through the two idler gears (7), the bevel gear and the large sleeve (6) fixedly connected thereto are connected to the magnetic isolation sleeve (24) through two outer bearings (17), the bevel gear and the large sleeve (6) fixedly connected thereto are connected to the magnetic isolation sleeve (24), and the bevel gear and the large sleeve (6) fixedly connected thereto are connected to the magnetic isolation sleeve (24). The space between the cylinders (24) is filled with magnetorheological fluid (20), and an outer sealing ring (16) is provided at the connection point. The external excitation coil (5) is respectively wound on both sides of the outer periphery of the magnetic isolation sleeve (24); the rotation angle and torque sensor (4) is connected to the force sensing controller (27) and the magnetorheological fluid controller (28) through a signal line, the force sensing controller (27) is connected to the magnetorheological fluid controller (28), the current generator (29) and the external excitation coil (5)/internal excitation coil (19) in sequence through a signal line, and the motor controller (26) is connected to the motor driver (25) and the motor (9) in sequence through a signal line. 2. The bevel gear magnetorheological fluid force feedback device according to claim 1, characterized in that the outer excitation coil (5) and the inner excitation coil (19) have different winding directions. 3. The bevel gear magnetorheological fluid force feedback device according to claim 1 is characterized in that the power supply (30) is connected to the angle and torque sensor (4), the motor (9), the force controller (27), the motor controller (26), the motor driver (25), the magnetorheological fluid controller (28), and the current generator (29) through power supply lines. 4. A method for using the bevel gear magnetorheological fluid force feedback device according to any one of claims 1 to 3, characterized in that the method is specifically carried out in accordance with the following steps: Step 1: during driving, the steering wheel (1) is turned, and the steering angle and torque sensor (4) detects the magnitude and direction of the steering wheel (1) steering angle and transmits it to the force sensing controller (27). The aligning torque is composed of the kingpin inclination aligning torque _MA and the tire trail aligning torque _{MY. MA} = QDsinβsinδ, Q = mg·bL, wherein _MA is the kingpin inclination aligning torque, Q is the tire load, D is the kingpin inclination distance, β is the kingpin inclination angle, δ is the front wheel steering angle, m is the vehicle mass, g is the gravitational acceleration, b is the distance from the vehicle center of mass to the rear axle, and L is the wheelbase; _MY = _FY (ξ'+ξ'),

Wherein, _MY is the tire trailing torque, _FY is the lateral force, ξ' is the pneumatic tire trailing distance, ξ" is the caster trailing distance, v is the vehicle speed, R is the turning radius, _k2 is the rear wheel roll stiffness, _k1 is the front wheel roll stiffness, a is the distance from the vehicle center of mass to the front axle, and the damping torque _MD = _Bs · _δs +Q·f·sign( _δs ), where _Bs is the damping coefficient of the steering system converted to the steering column (13), _δs is the steering wheel (1) angle, f is the friction coefficient between the tire and the ground, and sign represents the sign operator; Theoretical steering wheel torque

Wherein, i is the steering system transmission ratio, p is the power assistance coefficient of the power assistance system, F(δ _s ) is the function between the theoretical steering wheel torque and the steering wheel (1) angle δ _s , and the force sensing controller (27) obtains the magnitude and direction of the theoretical steering wheel torque and transmits it to the magnetorheological fluid controller (28); Step 2: The motor controller (26) controls the motor (9) to maintain rotation through the motor driver (25). The magnetic isolation sleeve (24) is surrounded by the magnetorheological fluid (20) and is ready to receive the driving torque of the drum and transmit it to the steering wheel (1) through the angle and torque sensor (4).

τ ₀ =1150B ⁴ -2140B ³ +1169B ² -64B+0.8,

Wherein, _T1 is the actual output torque between the magnetic isolation sleeve (24) and the bevel gear and the small sleeve (8) fixedly connected thereto, _T2 is the actual output torque between the magnetic isolation sleeve (24) and the bevel gear and the large sleeve (6) fixedly connected thereto; _L1 is the effective working length; _R1 is the working radius of the bevel gear and the small sleeve (8) fixedly connected thereto; _R2 is the effective working radius of the magnetic isolation sleeve (24); _R3 is the working radius of the bevel gear and the large sleeve (6) fixedly connected thereto; _τ0 is the shear magnetostrictive stress of the magnetorheological fluid (20); which rotating drum finally receives the driving torque is determined by the viscosity of the magnetorheological fluid (20); the rotating drum system can transmit the driving torque of the bevel gear and the sleeve fixedly connected thereto to the magnetic isolation sleeve (24), and finally to the driver, and when one set of rotating drum systems is working, the excitation coil of the other set has no current and is idling; Step 3: The magnetorheological fluid controller (28) obtains the theoretical current of the excitation coil according to the theoretical steering wheel torque _M1 , and determines which excitation coil should be powered 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 path. Then, the current generator (29) is used to execute the operation. 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 value of the theoretical steering wheel torque and the value of the actual torque. ΔT= _M1 -T, wherein T is the actual steering wheel feedback torque between the bevel gear and the sleeve fixed thereto and the magnetic isolation sleeve (24), and ΔT is the feedback torque compensation amount, so as to ensure that the torque finally transmitted to the driver is equal to the theoretical steering wheel torque.

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