CN108394460B - Bevel gear magnetorheological fluid force feedback device and use method thereof - Google Patents
Bevel gear magnetorheological fluid force feedback device and use method thereof Download PDFInfo
- Publication number
- CN108394460B CN108394460B CN201810409417.1A CN201810409417A CN108394460B CN 108394460 B CN108394460 B CN 108394460B CN 201810409417 A CN201810409417 A CN 201810409417A CN 108394460 B CN108394460 B CN 108394460B
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- sleeve
- moment
- steering wheel
- magnetorheological fluid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/14—Steering gears hydraulic
Abstract
The invention discloses a bevel gear magnetorheological fluid force feedback device and a use method thereof. The bevel gear mechanism has the advantages of equal forward and reverse rotation speeds, simple structure, convenient installation and low manufacturing cost, and the idler wheel is fixed on the bracket, so that the bevel gear mechanism works stably, and the bevel gear mechanism has better support on the inner sleeve and the outer sleeve and higher coaxiality precision of the mechanism.
Description
Technical Field
The invention belongs to the field of automobile electric control and intellectualization, and relates to a bevel gear magnetorheological fluid force feedback device and a use method thereof.
Background
The traditional vehicle road test has the defects of high cost, long time, limited site conditions, easy occurrence of accidents under the limit working conditions and the like, and the adoption of an automobile driving simulation system to replace the traditional vehicle road test is the current mainstream trend. The mature driving simulation system can truly reflect the motion state, road conditions, surrounding environment, various body senses and force sense of the vehicle, and greatly reduces the capital cost, time cost and labor cost of the vehicle road test. In which accurate steering wheel force feedback is essential, which largely determines whether the driver can make corresponding operations according to a given route or driving intention, and is critical to the operation decision of the driver. The traditional force feedback device mainly comprises a moment motor matched with a speed reducing mechanism, but has the defects of unsmooth control, large delay and shake, complex mechanical connecting device, easy motor blocking and the like. The problem of constant-speed rotation reversing can be solved in the prior art, but the reversing delay is larger due to the mechanical structure and pneumatic power source. Although the planetary gear can be quickly changed, the constant-speed change can not be realized, so that the planetary gear cannot be used under some working conditions with strict constant-speed requirements. The invention provides a handle quick reversing mechanism, which has the application number of 201410021814.3 and the publication date of 2014, 5 and 14, and provides a handle quick reversing structure. The application number is 201310329852.0, the invention name is a rapid reversing system, the publication date is 2015, 2 months and 11 days, and the application provides a rapid reversing system.
Magnetorheological fluids are intelligent materials, and are suspensions formed by dispersing micrometer-sized magnetically polarized particles in non-magnetic liquids (mineral oil, silicone oil, etc.). Under the condition of zero magnetic field, the magnetorheological fluid can flow freely, shows the behavior of Newtonian fluid, and has small apparent viscosity; the apparent viscosity can be increased by more than several orders of magnitude in a short time (millisecond level) under the action of an externally applied magnetic field, the shear-resistant and yield stress is similar to that of solid, the change is continuous and reversible, namely, the magnetic field is removed and the magnetic field returns to the original flowing state, and the characteristic is slightly influenced by other external factors (such as temperature). The magnetorheological effect of the magnetorheological fluid provides a wide application prospect in engineering practice.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a bevel gear magnetorheological fluid force feedback device and a use method thereof, which solve the problems of delay jitter and control irregularity, complex mechanical connecting device, incapability of completing forward and reverse constant-speed rotation and easy blocking of the force feedback device in the prior art.
The invention adopts the technical scheme that the force-sensing feedback device comprises a bracket, wherein a bearing support, a corner and torque sensor, an external excitation coil, an idler bearing support and a motor are sequentially arranged on the bracket; the rotation angle and torque sensor is connected with the force sensing controller and the magneto-rheological fluid controller through signal wires, the force sensing controller is sequentially connected with the magneto-rheological fluid controller, the current generator and the external/internal exciting coil through signal wires, and the motor controller is sequentially connected with the motor driver and the motor through signal wires.
Further, the winding directions of the outer exciting coil and the inner exciting coil are different.
Further, the power supply is respectively connected with the rotation angle and torque sensor, the motor, the force sensing controller, the motor driver, the magnetorheological fluid controller and the current generator through power supply lines.
The other technical scheme adopted by the invention is that the using method of the bevel gear magnetorheological fluid double-drum force sensing feedback device is carried out according to the following steps:
step one, rotating the steering wheel in the driving process, detecting the magnitude and the direction of the steering wheel angle by a steering angle and torque sensor, transmitting the steering wheel angle and the direction to a force sensing controller, and correcting moment by inwards inclining a main pin to correct moment M A And tire trailing distance correction moment M Y Composition, M A =qdsin βsin δ, q=mg·b/L, where M A The main pin internal inclination positive moment is represented by Q, the tire load, D, the main pin internal movement distance, beta, the main pin internal inclination angle, delta, the front wheel corner, m, the vehicle mass, g, the gravity acceleration, b, the distance from the vehicle mass center to the rear axle and L, the wheelbase; m is M Y ＝F Y (ξ'+ξ”)，
Wherein M is Y For correcting the moment of the trailing distance of the tyre, F Y Is the lateral force, ζ 'is the air tire drag distance, ζ' is the backward tilting drag distance, v is the vehicle speed, R is the turning radius, k 2 For rear wheel roll stiffness, k 1 For front wheel roll stiffness, a is the distance from the vehicle centre of mass to the front axle, damping moment M D ＝B s ·δ s +Q·f·sign(δ s ) Wherein B is s For conversion of steering system to damping coefficient, delta, of steering column s F is the friction coefficient between the tire and the ground, sign represents a sign operator; theoretical steering wheel moment->
Wherein i is the transmission ratio of the steering system, p is the power-assisted coefficient of the power-assisted system, and F (delta) s ) Is the theoretical steering wheel moment and steering wheel angle delta s The force sensing controller obtains the magnitude and the direction of the moment of the theoretical steering wheel and transmits the magnitude and the direction of the moment to the magnetorheological fluid controller;
step two, the motor controller controls the motor to maintain rotating through the motor driver, the magnetism isolating sleeve is surrounded by magnetorheological fluid, the magnetism isolating sleeve is ready to receive the driving torque of the rotary drum at any time and is transmitted to the steering wheel through the rotation angle and torque sensor,
τ 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，/>
wherein T is 1 For the moment actually output between the magnetism isolating sleeve and the bevel gear are fixedly connected with the bevel gear 2 The torque is actually output between the magnetism isolating sleeve and the bevel gear as well as between the magnetism isolating sleeve and the large sleeve fixedly connected with the bevel gear; l (L) 1 Is the effective working length; r is R 1 The working radius of the bevel gear and the small sleeve fixedly connected with the bevel gear is the working radius of the bevel gear; r is R 2 Is the effective working radius of the magnetism isolating sleeve; r is R 3 The working radius of the bevel gear and the large sleeve fixedly connected with the bevel gear is the working radius of the bevel gear; τ 0 Shearing a magneto-rheological fluid with a magneto-rheological fluid; the driving moment of which drum is finally received is determined by the viscosity of the magnetorheological fluid, and the drum system can thenThe driving moment of the sleeve fixedly connected with the bevel gear and the bevel gear is transmitted to the magnetism isolating sleeve and finally transmitted to a driver, one set of rotary drum system works while the other set of exciting coil has no current, and idle running is carried out; />
Step three, the magnetorheological fluid controller controls the steering wheel according to the theoretical steering wheel moment M 1 The theoretical current of the exciting coil is obtained, which exciting coil should be supplied with power is obtained according to the direction of the moment of the theoretical steering wheel, and tau 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，
Wherein B is magnetic induction intensity; mu is the magnetic permeability of the medium, N is the number of turns of the exciting coil, I is the exciting coil current, l is the magnetic path length, and then the exciting coil current is executed by a current generator; the magnetorheological fluid controller can also receive torque signals output by the rotation 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, wherein deltat=m 1 T, wherein T is the actual steering wheel feedback moment between the bevel gear and the sleeve fixedly connected with the bevel gear and the magnetism isolating sleeve, and DeltaT is the feedback moment compensation quantity, so that the moment finally transmitted to the driver is ensured to be equal to the theoretical steering wheel moment.
Compared with the prior art, the invention has the beneficial effects that the force sense direction control is completed by the bevel gear system with the constant speed and the opposite rotation driven by the motor, the bevel gear mechanism has the advantages of equal positive and negative rotation speeds, simple bevel gear structure, convenient installation and low manufacturing cost, and the idler wheel is fixed on the bracket, so the work is stable, the support of the bevel gear structure on the inner sleeve and the outer sleeve is better, and the coaxiality precision of the mechanism is higher. The bevel gear structure can also be applied to other quick reversing structures, so that the reversing delay reaches millisecond level, and the structure can be used for not only force sensing feedback devices, but also other devices. The invention not only can achieve the effect of quick constant-speed reversing, but also can control the magnitude of the torque after reversing. The invention also has adjustable functions.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a bevel gear type magnetorheological fluid double-drum force sensing feedback device;
FIG. 2 is a top view of a bevel gear type magnetorheological fluid double-drum force sensing feedback device;
FIG. 3 is a cross-sectional view of a bevel gear type magnetorheological fluid double-drum force sensing feedback device;
FIG. 4 is a control flow and signal transmission diagram of a bevel gear type magnetorheological fluid double-drum force sensing feedback device;
FIG. 5 is an isometric view of a magnetism isolating sleeve of the bevel gear type magnetorheological fluid double-drum force sensing feedback device connected with a steering wheel;
FIG. 6 is an isometric view of a bevel gear type magnetorheological fluid double-drum force sensing feedback device and a small sleeve fixedly connected with the bevel gear;
FIG. 7 is an isometric view of a bevel gear type magnetorheological fluid double-drum force sensing feedback device and a large sleeve fixedly connected with the bevel gear;
FIG. 8 is an isometric view of an idler gear of the bevel gear type magnetorheological fluid double-drum force sensing feedback device;
fig. 9 is an isometric view of an external excitation coil of the bevel gear type magnetorheological fluid double-drum force sensing feedback device.
In the figure, 1, a steering wheel, 2, a bearing bracket, 3, a coupler, 4, a corner and torque sensor, 5, an outer exciting coil, 6, a bevel gear and a large sleeve fixedly connected with the bevel gear, 7, an idler pulley, 8, a bevel gear and a small sleeve fixedly connected with the bevel gear, 9, a motor, 10, a bracket, 11, an idler bearing, 12, an idler bearing bracket, 13, a steering column, 14, a steering column bearing, 15, a magnetism isolating sleeve bearing, 16, an outer sealing ring, 17, an outer bearing, 18, an inner bearing, 19, an inner exciting coil, 20, a magnetic rheological fluid, 21, an inner sealing ring, 22, a small sleeve bearing, 23, a supporting bearing, 24, a magnetism isolating sleeve, 25, a motor driver, 26, a motor controller, 27, a force sensing controller, 28, a magnetic rheological fluid controller, 29, a current generator and 30.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The bevel gear magnetorheological fluid force sensing feedback device comprises a force sensing simulation system, a force sensing control system, a force sensing generation system, a reversing system and a power supply system as shown in figures 1-4;
the bevel gear magnetorheological fluid double-drum force sensing feedback device comprises a bracket 10, wherein a bearing support 2, a rotation angle and torque sensor 4, an external excitation coil 5, an idler bearing support 12 and a motor 9 are sequentially arranged on the bracket 10;
force sense simulation system: according to the turning angle signal of the steering wheel 1, the magnitude and the direction of the theoretical steering wheel moment are generated; comprises a steering wheel 1, a bearing bracket 2, a coupler 3, a steering angle and torque sensor 4, a steering column 13, a steering column bearing 14 and a force sensing controller 27; the bracket 10 is sequentially provided with a bearing bracket 2 and a corner and torque sensor 4, a steering column 13 is fixed on the bearing bracket 2 through a steering column bearing 14, the steering wheel 1 is rigidly connected with the steering column 13, the steering column 13 is rigidly connected with one end of the corner and torque sensor 4 through a coupler 3, and the corner and torque sensor 4 is connected with a force sensing controller 27 through a signal wire;
force sensing control system: generating corresponding control signals according to the theoretical steering wheel moment, and controlling the rotating speed of the motor 9 and the viscosity of magnetorheological fluid; the motor controller 26 is connected with the force sensor controller 27 and the magnetorheological fluid controller 28 through signal wires, the force sensor controller 27 is connected with the magnetorheological fluid controller 28, the current generator 29 and the external exciting coil 5/the internal exciting coil 19 through signal wires in sequence, and the motor controller 26 is connected with the motor driver 25 and the motor 9 through signal wires in sequence;
force sense generating system: the device is used for receiving a turning angle signal of force sense of the steering wheel 1 and generating actual moment according to electromagnetic action and viscous liquid transmission action; the magnetic-flux-isolating sleeve comprises a coupler 3, an external excitation coil 5, a bevel gear, a large sleeve 6 fixedly connected with the bevel gear, a small sleeve 8 fixedly connected with the bevel gear, a motor 9, a magnetic-isolating sleeve bearing 15, an external sealing ring 16, an external bearing 17, an internal bearing 18, an internal excitation coil 19, magnetorheological fluid 20, an internal sealing ring 21, a small sleeve bearing 22, a support bearing 23 and a magnetic-isolating sleeve 24, as shown in fig. 5-9, the other end of the corner and torque sensor 4 is connected with the magnetic-isolating sleeve 24 through the coupler, the magnetic-isolating sleeve 24 is connected to a bearing bracket through the magnetic-isolating sleeve bearing 15, the output end of the motor 9 is connected with the bevel gear and the small sleeve 8 fixedly connected with the bevel gear through the small sleeve bearing 22, the bevel gear is fixedly connected with the small sleeve 8 through the small sleeve bearing 22 on the bearing bracket 10, the bevel gear and the small sleeve 8 fixedly connected with the bevel gear is connected with the magnetic-isolating sleeve 24 through the two internal bearing 18 and the two support bearings 23, an inner sleeve 21 is arranged between the bevel gear 8 and the magnetic-isolating sleeve 24, the inner sleeve 19 is respectively wound on the bevel gear and the large sleeve 24 through the bevel gear 6 fixedly connected with the bevel gear 6 and the bevel gear and the large sleeve 24 respectively, the bevel gear is meshed with the large sleeve 6 and the large sleeve 24 through the large sleeve 6 and the two magnetic-isolating sleeve 24 respectively, and the large sleeve is fixedly connected with the bevel gear and the small sleeve 8 is fixedly connected with the large sleeve 8 through the small sleeve 8 and the small sleeve 24;
reversing system: the bevel gear and the small sleeve 8 fixedly connected with the bevel gear are used for enabling the bevel gear driven by the motor 9 and the large sleeve 6 fixedly connected with the bevel gear to always keep reverse movement, so that force sense in opposite directions is generated; the bevel gear and the bevel gear on the small sleeve 8 fixedly connected with the bevel gear are meshed with the bevel gear and the bevel gear on the large sleeve 6 fixedly connected with the bevel gear through the two idler gears 7; the structure has the advantages of simple parts, low processing cost, convenient installation and easy completion of the constant-speed reversing function;
and (3) a power supply system: for providing electrical energy to the device; the power supply 30 is connected to the rotation angle and torque sensor 4, the motor 9, the force sensor controller 27, the motor controller 26, the motor driver 25, the magnetorheological fluid controller 28, and the current generator 29 via power supply lines, respectively.
The motor controller 27 is used for controlling the motor 9 to rotate at a constant speed, ensuring that the motor 9 can drive the bevel gear and the small sleeve 8 fixedly connected with the bevel gear and the large sleeve 6 fixedly connected with the bevel gear to rotate at a constant speed under the load fluctuation working condition, and the motor controller 26 generates PWM control signals and transmits the PWM control signals 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 rotation speed;
the bevel gear and the small sleeve 8 fixedly connected with the bevel gear are used for generating rotation in one direction and driving moment and can rotate around the axis of the bevel gear;
the bevel gear and the large sleeve 6 fixedly connected with the bevel gear are used for generating rotation in the other direction and driving moment and can rotate around the axis of the bevel gear;
the magnetism isolating sleeve 24 is used for receiving driving moment from different drums and can play a magnetism isolating role between two sets of drum systems;
the winding directions of the outer exciting coil 5 and the inner exciting coil 19 are different, different winding modes can save space, and the maximum utilization of the magnetic field is realized under the limited space.
The magnetorheological fluid controller 28 obtains the value of the theoretical current which the external exciting coil 5 or the internal exciting coil 19 should receive according to the magnitude of the theoretical steering wheel moment, and transmits the value to the current generator 29, then the magnetorheological fluid controller 28 obtains the exciting coil which sets of sleeve systems should be supplied with power according to the direction of the theoretical steering wheel moment, so as to ensure that the actually generated force sensing direction is consistent with the theoretical steering wheel moment, the current generator 29 is provided with two channels which are respectively connected with the external exciting coil 5 and the internal exciting coil 19, the magnetorheological fluid controller 28 obtains which one of the external exciting coil 5 or the internal exciting coil 19 should be provided with the current value according to the magnitude and the direction of the theoretical steering wheel moment, then the current generator 29 is executed through the corresponding channel, no matter which exciting coil is supplied with power, the other one sleeve system is not provided with current, so that only one sleeve system works, the other sleeve system is idle, the magnetorheological fluid controller 28 can also receive the torque signal which is output by the steering angle and the torque sensor 4, and the torque which is finally transmitted to the driver is equal to the steering wheel according to the theoretical moment.
The using method of the bevel gear type magnetorheological fluid double-drum force sensing feedback device applies the bevel gear type magnetorheological fluid double-drum force sensing feedback device, and the method specifically comprises the following steps:
step one, the steering wheel 1 is rotated during driving, the rotation angle and torque sensor 4 detects the rotation angle and direction of the steering wheel 1 and transmits the rotation angle and direction to the force sensing controller 27, and the aligning moment is the aligning moment M in the kingpin A And tire trailing distance correction moment M Y Composition, M A =qdsin βsin δ, q=mg·b/L, where M A The main pin internal inclination positive moment is represented by Q, the tire load, D, the main pin internal movement distance, beta, the main pin internal inclination angle, delta, the front wheel corner, m, the vehicle mass, g, the gravity acceleration, b, the distance from the vehicle mass center to the rear axle and L, the wheelbase; m is M Y ＝F Y (ξ'+ξ”)，
Wherein M is Y For correcting the moment of the trailing distance of the tyre, F Y Is the lateral force, ζ 'is the air tire drag distance, ζ' is the backward tilting drag distance, v is the vehicle speed, R is the turning radius, k 2 For rear wheel roll stiffness, k 1 For front wheel roll stiffness, a is the distance from the vehicle centre of mass to the front axle, damping moment M D ＝B s ·δ s +Q·f·sign(δ s ) Which is provided withIn (B) s For conversion of the steering system to the damping coefficient, delta, of the steering column 13 s For the turning angle of the steering wheel 1, f is the friction coefficient between the tire and the ground, sign represents a sign operator; theoretical steering wheel moment->
Wherein i is the transmission ratio of the steering system, p to assist the system, F (delta) s ) Is the theoretical steering wheel moment and the steering wheel 1 turning angle delta s The force sensing controller 27 obtains the magnitude and the direction of the theoretical steering wheel moment and transmits the theoretical steering wheel moment to the magnetorheological fluid controller 28;
step two, a motor controller 26 controls the motor 9 to keep rotating through a motor driver 25, a magnetism isolating sleeve 24 is surrounded by magnetorheological fluid 20, the driving moment of the rotary drum is ready to be received at any time and is transmitted to the steering wheel 1 through a rotation angle and torque sensor 4,
τ 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，/>
wherein T is 1 For the moment actually output between the magnetism isolating sleeve 24 and the bevel gear and the small sleeve 8 fixedly connected with the bevel gear, T 2 The torque actually output between the magnetism isolating sleeve 24 and the bevel gear and the large sleeve 6 fixedly connected with the bevel gear; l (L) 1 Is the effective working length; r is R 1 The working radius of the bevel gear and the small sleeve (8) fixedly connected with the bevel gear is the working radius; r is R 2 An effective working radius for the magnetic barrier sleeve 24; r is R 3 The working radius of the bevel gear and the large sleeve 6 fixedly connected with the bevel gear is the same as that of the bevel gear; τ 0 Shearing a magneto-rheological fluid 20; the final driving moment of which rotary drum is received is determined by the viscosity of the magnetorheological fluid 20, the rotary drum system can transmit the driving moment of the bevel gear and the sleeve fixedly connected with the bevel gear to the magnetism isolating sleeve 24, and finally the driving moment is transmitted to a driver, and the exciting coil of the other rotary drum system does not have current and idles at the same time of working;
step three, magneto-rheologicalThe liquid controller 28 is based on the theoretical steering wheel moment M 1 The theoretical current of the exciting coil is obtained, which exciting coil should be supplied with power is obtained according to the direction of the moment of the theoretical steering wheel, and tau 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，
Wherein B is magnetic induction intensity; mu is the magnetic permeability of the medium, N is the number of turns of the exciting coil, I is the exciting coil current, l is the magnetic path length, then the magnetorheological fluid controller 28 is executed through the current generator 29, and can also receive the torque signal output by the rotation angle and torque sensor 4, and feedback adjustment is carried out according to the value of the theoretical steering wheel moment and the value of the actual moment, and deltat=m 1 T, wherein T is the actual steering wheel feedback torque between the bevel gear and the fixedly connected sleeve thereof and the magnetism isolating sleeve 24, and DeltaT is the feedback torque compensation amount, so that the torque finally transmitted to the driver is equal to the theoretical steering wheel torque.
Examples
When the front of the steering wheel 1 of the device is seen, the motor 9 rotates clockwise at a constant speed, the gear ring and the small sleeve 8 fixedly connected with the gear ring also rotate clockwise at a constant speed, but the bevel gear and the large sleeve 6 fixedly connected with the bevel gear rotate anticlockwise at a constant speed under the action of the reversing system, and the driving moment generated by the magnetorheological fluid 20 is irrelevant to the rotating speed difference, so that the different forward and reverse rotating speeds have no influence on the system; at this time, after the driver decides the theoretical steering wheel moment from the zero anticlockwise rotation of the steering wheel 1, the force-sensing controller 27 decides the theoretical current of the exciting coil through the magnetorheological fluid controller 28, and at the same time, the force-sensing controller 27 decides that the direction of the theoretical steering wheel moment should be clockwise, the magnetorheological fluid controller 28 controls the current generator 29 to selectively supply power to the bevel gear and the inner exciting coil 19 corresponding to the small sleeve 8 fixedly connected with the bevel gear, so that the inner exciting coil 19 generates a magnetic field to the magnetorheological fluid 20 outside, the viscosity of the magnetorheological fluid 20 is changed to a proper size, the clockwise feedback moment equal to the theoretical steering wheel moment is generated by the magnetic isolating sleeve 24 to be transmitted to the steering wheel 1 under the action of the bevel gear rotating clockwise and the small sleeve 8 fixedly connected with the bevel gear, at this time, the bevel gear and the large sleeve 6 fixedly connected with the bevel gear are idle, if a driver rotates the steering wheel 1 clockwise from a zero position at this time, the force sensing controller 27 decides the theoretical current of the exciting coil through the magnetorheological fluid controller 28 after deciding the magnitude of the theoretical steering wheel moment, and meanwhile, the force sensing controller 27 decides that the direction of the theoretical steering wheel moment should be anticlockwise, the magnetorheological fluid controller 28 controls the current generator 29 to selectively supply power to the external exciting coil 5 related to the bevel gear and the large sleeve 6 fixedly connected with the bevel gear, so that the external exciting coil generates a magnetic field to the magnetorheological fluid 20 in the external exciting coil to change the viscosity of the magnetorheological fluid 20 to a proper magnitude, the anticlockwise feedback moment equal to the magnitude of the theoretical steering wheel moment is generated by the bevel gear and the large sleeve 6 fixedly connected with the bevel gear, and the anticlockwise feedback moment is transmitted to the steering wheel 1 through the magnetism isolating sleeve 24, due to the magnetic shielding effect of the magnetic shielding sleeve 24, the bevel gear and the small sleeve 8 fixedly connected with the bevel gear idle at this time.
Through the control of the magnetorheological fluid controller 28 and the execution of the double-sleeve rotary drum system, and the current generator 29 switches the power supply channel at any time, the invention outputs moment with any size and direction at any position of the steering wheel 1, and no reversing exists in the motor 9 in the whole control process, so that the response speed of the system is determined by the response speed of the magnetorheological fluid 20, and the response speed of the magnetorheological fluid 20 is in the millisecond level, and therefore, the invention has more advantages than the traditional force sensing feedback device.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the 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. The bevel gear magnetorheological fluid force feedback device is characterized by comprising a bracket (10), wherein a bearing bracket (2), a corner and torque sensor (4), an external excitation coil (5), an idler bearing bracket (12) and a motor (9) are sequentially arranged on the bracket (10), a steering column (13) is fixed on the bearing bracket (2) through a steering column bearing (14), the steering wheel (1) is rigidly connected with the steering column (13), the steering column (13) is connected with one end of the corner and torque sensor (4) through a coupler (3), the other end of the corner and torque sensor (4) is connected with a magnetism isolating sleeve (24) through a coupler, the magnetism isolating sleeve (24) is connected to the bearing bracket through a magnetism isolating sleeve bearing (15), the output end of the motor (9) is fixedly connected with the bevel gear and a small sleeve (8) fixedly connected with the bevel gear through the bevel gear, the bevel gear and the small sleeve (8) fixedly connected with the bevel gear through a small sleeve bearing (22) are fixedly connected to the bearing bracket (13) of the bracket (10), the bevel gear and the magnetism isolating sleeve (24) is fully connected with the magnetism isolating sleeve (24) through the magnetism isolating sleeve bearing (21) and the magnetism isolating sleeve (24) through the magnetism isolating sleeve bearing (20), the inner exciting coils (19) are respectively wound on two sides of the middle shaft of the magnetism isolating sleeve (24), the idler wheel (7) is fixedly connected to the idler wheel bearing support (12) through the idler wheel bearing (11), the bevel gear and the bevel gear on the small sleeve (8) fixedly connected with the idler wheel are meshed with the bevel gear and the bevel gear on the large sleeve (6) fixedly connected with the bevel gear through the two idler wheels (7), the bevel gear and the large sleeve (6) fixedly connected with the bevel gear are connected to the magnetism isolating sleeve (24) through the two outer bearings (17), an outer sealing ring (16) is arranged at the joint of the bevel gear, the large sleeve (6) fixedly connected with the bevel gear and the magnetism isolating sleeve (24) and filled with magnetorheological fluid (20), and the outer exciting coils (5) are respectively wound on two sides of the periphery of the magnetism isolating sleeve (24); the rotation angle and torque sensor (4) is connected with the force sensing controller (27) and the magnetorheological fluid controller (28) through signal lines, the force sensing controller (27) is sequentially connected with the magnetorheological fluid controller (28), the current generator (29) and the external exciting coil (5)/internal exciting coil (19) through signal lines, and the motor controller (26) is sequentially connected with the motor driver (25) and the motor (9) through signal lines.
2. The bevel gear magnetorheological fluid inductance feedback device according to claim 1, wherein the outer exciting coil (5) and the inner exciting coil (19) are wound in different directions.
3. The bevel gear magnetorheological fluid force feedback device according to claim 1, wherein the power supply (30) is connected with the rotation angle and torque sensor (4), the motor (9), the force sensor controller (27), the motor controller (26), the motor driver (25), the magnetorheological fluid controller (28) and the current generator (29) through power supply lines respectively.
4. A method of using the bevel gear magnetorheological fluid feedback device of any one of claims 1-3, comprising the steps of:
step one, rotating the steering wheel (1) in the driving process, detecting the magnitude and the direction of the rotation angle of the steering wheel (1) by a rotation angle and torque sensor (4) and transmitting the rotation angle and the direction to a force sensing controller (27), wherein the aligning moment is formed by inwards tilting the aligning moment M of a master pin A And tire trailing distance correction moment M Y Composition, M A QDsin βsin δ, q=mg·bl, where M A The main pin internal inclination positive moment is represented by Q, the tire load, D, the main pin internal movement distance, beta, the main pin internal inclination angle, delta, the front wheel corner, m, the vehicle mass, g, the gravity acceleration, b, the distance from the vehicle mass center to the rear axle and L, the wheelbase; m is M Y ＝F Y (ξ'+ξ”)，
Wherein M is Y For correcting the moment of the trailing distance of the tyre, F Y Is the lateral force, ζ 'is the air tire drag distance, ζ' is the backward tilting drag distance, v is the vehicle speed, R is the turning radius, k 2 For rear wheel roll stiffness, k 1 For front wheel roll stiffness, a is the distance from the vehicle centre of mass to the front axle, damping moment M D ＝B s ·δ s +Q·f·sign(δ s ) Wherein B is s For converting steering systems into damping coefficients, delta, of steering columns (13) s For the turning angle of the steering wheel (1), f is the friction coefficient between the tire and the ground, sign represents a sign operator; theoretical steering wheel moment->
Wherein i is a transitionTo the system transmission ratio, p is the power system power assisting coefficient, F (delta) s ) Is the theoretical steering wheel moment and the steering wheel (1) turning angle delta s The force sensing controller (27) obtains the magnitude and the direction of the theoretical steering wheel moment and transmits the theoretical steering wheel moment to the magnetorheological fluid controller (28); />
Step two, a motor controller (26) controls a motor (9) to maintain rotation through a motor driver (25), a magnetism isolating sleeve (24) is surrounded by magnetorheological fluid (20) and is ready to receive the driving torque of the rotary drum at any time and transmit the driving torque to a steering wheel (1) through a rotation angle and torque sensor (4),
τ 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，/>
wherein T is 1 For the moment actually output between the magnetism isolating sleeve (24) and the bevel gear and the small sleeve (8) fixedly connected with the bevel gear, T 2 The torque is actually output between the magnetism isolating sleeve (24) and the bevel gear and the large sleeve (6) fixedly connected with the bevel gear; l (L) 1 Is the effective working length; r is R 1 The working radius of the bevel gear and the small sleeve (8) fixedly connected with the bevel gear is the working radius; r is R 2 Is the effective working radius of the magnetism isolating sleeve (24); r is R 3 The working radius of the bevel gear and the large sleeve (6) fixedly connected with the bevel gear is the working radius; τ 0 Shearing a magneto-rheological fluid (20) with a magneto-rheological stress; the final driving moment of which rotary drum is received is determined by the viscosity of magnetorheological fluid (20), the rotary drum system can transmit the driving moment of a bevel gear and a sleeve fixedly connected with the bevel gear to a magnetism isolating sleeve (24), and finally the driving moment is transmitted to a driver, and the exciting coil of the other rotary drum system does not have current at the same time of working to idle;
thirdly, the magnetorheological fluid controller (28) controls the moment M of the steering wheel according to the theory 1 The theoretical current of the exciting coil is obtained, which exciting coil should be supplied with power is obtained according to the direction of the moment of the theoretical steering wheel, and tau 0 ＝1150B 4 -2140B 3 +1169B 2 -64B+0.8，
Wherein B is magnetic induction intensity; mu is the magnetic permeability of the medium, N is the number of turns of the exciting coil, I is the exciting coil current, l is the magnetic path length, and then the magnetic path length is executed by a current generator (29); the magnetorheological fluid controller (28) can also receive the torque signals 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, wherein DeltaT=M 1 T, wherein T is the actual steering wheel feedback moment between the bevel gear and the sleeve fixedly connected with the bevel gear and the magnetism isolating sleeve (24), and DeltaT is the feedback moment compensation quantity, so that the moment finally transmitted to the driver is equal to the theoretical steering wheel moment. />
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810409417.1A CN108394460B (en) | 2018-05-02 | 2018-05-02 | Bevel gear magnetorheological fluid force feedback device and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810409417.1A CN108394460B (en) | 2018-05-02 | 2018-05-02 | Bevel gear magnetorheological fluid force feedback device and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108394460A CN108394460A (en) | 2018-08-14 |
| CN108394460B true CN108394460B (en) | 2023-05-12 |
Family
ID=63101437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810409417.1A Active CN108394460B (en) | 2018-05-02 | 2018-05-02 | Bevel gear magnetorheological fluid force feedback device and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108394460B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020045412A (en) * | 2000-12-11 | 2002-06-19 | 밍 루 | Electronic power steering system by using electromagnetic clutch |
| US6557662B1 (en) * | 2000-11-22 | 2003-05-06 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| CN101607571A (en) * | 2009-07-17 | 2009-12-23 | 重庆理工大学 | A kind of auto steering control method and system based on magnetic converting technique |
| CN102320324A (en) * | 2011-06-30 | 2012-01-18 | 浙江大学宁波理工学院 | Wire control steering automobile road sensing simulation executing device |
| CN208411861U (en) * | 2018-05-02 | 2019-01-22 | 吉林大学 | The magnetorheological fluid power sense feedback device of bevel gear |
-
2018
- 2018-05-02 CN CN201810409417.1A patent/CN108394460B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6557662B1 (en) * | 2000-11-22 | 2003-05-06 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| KR20020045412A (en) * | 2000-12-11 | 2002-06-19 | 밍 루 | Electronic power steering system by using electromagnetic clutch |
| CN101607571A (en) * | 2009-07-17 | 2009-12-23 | 重庆理工大学 | A kind of auto steering control method and system based on magnetic converting technique |
| CN102320324A (en) * | 2011-06-30 | 2012-01-18 | 浙江大学宁波理工学院 | Wire control steering automobile road sensing simulation executing device |
| CN208411861U (en) * | 2018-05-02 | 2019-01-22 | 吉林大学 | The magnetorheological fluid power sense feedback device of bevel gear |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108394460A (en) | 2018-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108407887B (en) | Power sense feedback device and application method made from magnetorheological fluid birotor | |
| CN102167082B (en) | Difference active steering system of electric wheel driving automobile and control method thereof | |
| CN107719466A (en) | One kind drives steering integrated steering wheel module and its application | |
| CN104608818A (en) | Steering system with magnetic torque overlay | |
| CN208411861U (en) | The magnetorheological fluid power sense feedback device of bevel gear | |
| CN207697493U (en) | A kind of AGV differential drive mechanisms being adapted to uneven road surface walking | |
| CN206738479U (en) | Using the magnetorheological steering damper of the new automobile of Transmission Mechanism of Planetary Gear System | |
| JPS63297173A (en) | Composite steering device for automobile | |
| CN110316279A (en) | A kind of omnidirectional's differential driving steering wheel | |
| CN108415475B (en) | Planetary gear type magnetorheological fluid double-drum force feedback device and application method thereof | |
| CN108394460B (en) | Bevel gear magnetorheological fluid force feedback device and use method thereof | |
| US8457842B2 (en) | Magnetic assisted power steering system | |
| CN108372883B (en) | Magnetorheological fluid rotates torsional spring power sense feedback device and its application method | |
| CN108334122B (en) | Single-cylinder planetary gear type magnetorheological fluid force feedback device and application method thereof | |
| KR20170065445A (en) | Steering system with low-bulk mechanical differential | |
| CN108583676B (en) | Magnetorheological fluid birotor power sense feedback device and its application method | |
| US6161644A (en) | Power steering system for motor vehicle | |
| CN108398969B (en) | Motor-driven magnetorheological fluid rotor force sensing feedback device and application method thereof | |
| CN208789763U (en) | Power sense feedback device made from magnetorheological fluid birotor | |
| CN208126213U (en) | The double rotating cylinder power sense feedback devices of planetary gear type magnetorheological fluid | |
| CN208789764U (en) | Magnetorheological fluid birotor power sense feedback device | |
| CN208126214U (en) | Motor driven magnetorheological fluid rotor forces sense feedback device | |
| CN208306740U (en) | The magnetorheological fluid power sense feedback device of monotubular bevel gear type | |
| CN208126215U (en) | The magnetorheological fluid power sense feedback device of monotubular planetary gear type | |
| CN208306741U (en) | Magnetorheological fluid rotates torsional spring power sense feedback device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |