CN108394461A - The magnetorheological fluid power sense feedback device of monotubular bevel gear type and its application method - Google Patents
The magnetorheological fluid power sense feedback device of monotubular bevel gear type and its application method Download PDFInfo
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- CN108394461A CN108394461A CN201810409794.5A CN201810409794A CN108394461A CN 108394461 A CN108394461 A CN 108394461A CN 201810409794 A CN201810409794 A CN 201810409794A CN 108394461 A CN108394461 A CN 108394461A
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- bevel gear
- magnetorheological fluid
- gear wheel
- torque
- power sense
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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 kind of magnetorheological fluid power sense feedback device of monotubular bevel gear type and its application method, the magnetorheological fluid power sense feedback device of monotubular bevel gear type includes：Including power sense simulation system, power sense control system, power sense generation system, exchange system and power supply system.The present invention makes the device of the invention total weight light using bevel gear reversing arrangement, reduces manufacturing cost, and be easy to be molded, be easily assembled, to the disadvantage that solving device is complicated, vibration noise is big, of high cost.
Description
Technical field
The invention belongs to automobile electrically-controlled and intellectualized technology fields, and it is anti-to be related to a kind of magnetorheological fluid power sense of monotubular bevel gear type
Present device and its application method.
Background technology
Conventional truck actual road test is with of high cost, the time is long, site condition is limited and accident easily occurs for limiting condition
The shortcomings of, the main trend that conventional truck actual road test is current is substituted using Vehicle driving simulator.Ripe driving mould
Quasi- system more can truly reflect state of motion of vehicle, road conditions, ambient enviroment and various body-sensings, power sense, greatly
Ground reduces vehicle road test fund cost, time cost and human cost.Wherein accurate steering wheel sense feedback is must
Indispensable, can be largely fixed driver make corresponding behaviour according to given route or driving intention
Make, it is most important to the operation decision of driver.The main deceleration mechanism group with torque motor of traditional power sense feedback device
At, but there is control irregularity in it, delay and jitter is big, mechanical connecting device is complicated and be susceptible to that motor is stuck etc. to be lacked
Point, therefore this patent proposes a kind of magnetorheological fluid power sense feedback device of monotubular planetary gear type, the main distinction is power sense
Direction controlling drives the planetary gear system reversely rotated to complete by motor, and the size of power sense is controlled controls magnetic current by magnet exciting coil
Become liquid viscosity to complete, eliminate the delay and jitter of the direct-connected scheme of traditional torque motor to a certain extent, can guarantee torque standard
Really feedback, and a series of deficiencies of torque motor can be overcome.
Magnetorheological fluid is a kind of intellectual material, is that the magnetic polarization particle of micron-scale is scattered in non magnetic liquid (mineral
Oil, silicone oil etc.) in formed suspension.Magnetorheological fluid can flow freely under zero magnetic field conditions, show Newtonian fluid
Behavior, apparent viscosity very little；It can increase several quantity in short time (Millisecond) interior apparent viscosity outside plus under magnetic fields
Grade or more, and class solid property is presented, there is certain anti-shearing yield stress, and this variation is continuous, is reversible,
It is restored to original flow regime again after removing magnetic field, and this characteristic is influenced very by extraneous other factors (such as temperature)
It is small.The magnetic rheology effect of magnetorheological fluid provides the foreground of being widely applied in practice for it in engineering.
Invention content
To achieve the above object, a kind of magnetorheological fluid power sense feedback device of monotubular bevel gear type of present invention offer and its use
Method, solve power sense feedback device delay jitter in the prior art and control irregularity, mechanical connecting device it is complicated and
Big, the of high cost problem of noise.
The technical solution adopted in the present invention is the magnetorheological fluid power sense feedback device of monotubular bevel gear type, including holder, branch
Bearing spider, corner and torque sensor, magnet exciting coil and motor, steering wheel and steering column rigid connection are equipped on frame successively,
Steering column is fixed to by bearing on bearing spider, and steering column is rigidly connected by shaft coupling and corner and torque sensor, rolling
Cylinder setting portion in the bracket, corner and torque sensor are rigidly connected by shaft coupling and output shaft, output shaft by key with it is defeated
Go out end casing to be connected, motor is rigidly connected by one end of shaft coupling and input shaft, and the other end of input shaft passes through key and half
Through-hole bevel gear wheel connects, and half-via bevel gear wheel engaged gears commutation bevel pinion, input shaft is equipped with bevel gear and connects T shapes
Axis, bevel gear connection T shape axis both ends pass through commutation bevel pinion and are threadedly coupled with it by tightening end cap, and input shaft is close to electricity
One end of machine is connect with through-hole bevel gear wheel, and roller is upper by screw and seal washer and input end casing and output end casing
Lower both sides are connected, and enclosure space, through-hole bevel gear wheel and input terminal are formed between half-via bevel gear wheel and output end casing
Enclosure space is formed between cover board, two enclosure spaces are equipped with magnetorheological fluid, magnet exciting coil are equipped with outside two enclosure spaces,
Input shaft is equipped with the first sleeve and second sleeve, and the first sleeve is placed between magnetorheological fluid and input shaft, and second sleeve is placed in
Between half-via bevel gear wheel and bevel gear connection T shape axis, input end casing passes through screw and gasket seal and end cover phase
The junction of connection, end cover and input shaft is equipped with felt collar, and roller passes through O-ring seals and half-via bevel gear wheel and through-hole
Bevel gear wheel is connected, and corner and torque sensor are connected with power sense controller and magnetorheological fluid controller respectively by signal wire
It connects, power sense controller is connected with magnetorheological fluid controller, current feedback circuit and magnet exciting coil successively by signal wire, motor control
Device processed is connected with motor driver, motor successively by signal wire.
Further, power supply by supply lines respectively with motor, corner and torque sensor, power sense controller, motor control
Device processed, motor driver, magnetorheological fluid controller, current feedback circuit are connected.
Further, first sleeve and second sleeve can be freely rotated relative to input shaft.
Further, the current feedback circuit is set there are two channel.
The another technical solution of the present invention is the application method of the magnetorheological fluid power sense feedback device of monotubular bevel gear type,
Specifically follow the steps below：
Step 1: the size of the steering wheel rotation in driving procedure, corner and torque sensor detection direction disk corner with
And direction and power sense controller being passed it to, aligning torque is by caster and displacement and is grounded the infinitesimal lateral reaction of EDS maps
Cause, MA=QDsin β sin δ, My=Fy(ξ·+ξ··),Wherein, MAIt is road surface caused by Kingpin inclination to wheel
Steering moment, Q be deflecting roller load, D be main pins position shifting, β is kingpin inclination, and δ is wheel steering angle, MyDraw for reverse caster
The torque risen, FyFor side force of tire, ξ·For pneumatic trail, ξ··For positive caster offset, m is complete vehicle quality, and v is vehicle speed
Degree, b are the distance from barycenter to rear axle, and R is turning radius, and L is wheelbase, and damping torque is caused by steering and ground friction
MD=Bsθ+Qfsign (θ), wherein BsFor the damped coefficient of steering shaft in steering, θ is steering wheel angle, and f is
Ground friction coefficient, sign (θ) indicate moment of friction direction and steering wheel rotation direction on the contrary, therefore, theory orientation disk torque
It is represented by：Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains size and the side of theory orientation disk torque
To, and the size of theory orientation disk torque and direction are passed into magnetorheological fluid controller；
Step 2: magnetorheological fluid controller is according to Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains theory
The corner of steering wheel torque, direction and steering wheel is on the contrary, decision goes out power to which magnet exciting coil and provide supplied electricity
Flow size, the shear stress τ that magnetorheological fluid generates0=1150B4-2140B3+1169B2- 64B+0.8, wherein B is that magnetic induction is strong
Degree, B=μ H, wherein μ is magnetic conductivity, and H is magnetic field intensity, is the circle of magnet exciting coil by Ampère circuital theorem Hl=NI, wherein N
Number, I is field coil current, and l is the length of magnetic path, is then executed by current feedback circuit, and magnetorheological fluid controller can also
Corner and the dtc signal of torque sensor output are received, according to theory orientation disk torque MlNumerical value and actual torque M number
Value carries out feedback regulation, feedback moment compensation rate Δ M=Ml- M, it is ensured that be ultimately transferred to the torque and theory orientation disk of driver
Torque is equal；
Step 3: electric machine controller controls motor by motor driver maintains constant speed rotation, through-hole bevel gear wheel and half
Through-hole bevel gear wheel is motor driven as active source and is commutated by commutation bevel pinion, maintains constant speed to reversely rotate always, leads to
Hole bevel gear wheel/half-via bevel gear wheel then can be by the shearing force of magnetorheological fluid by through-hole bevel gear wheel/half-via auger
The driving moment of gear passes to the disconnected cover board of output end casing/input and roller, it is ensured that output torque at any time, according toWherein, r is the radius of through-hole bevel gear wheel/half-via bevel gear wheel and magnetorheological fluid contact surface, τ0For magnetic current
Become the shear stress that liquid generates, output end casing is close to cover with the cover board that breaks is inputted by magnetorheological fluid, is ready to receiving through-hole
The driving moment of bevel gear wheel/half-via bevel gear wheel simultaneously passes to steering wheel, a side through hole by corner and torque sensor
When bevel gear wheel/half-via bevel gear wheel work, other side half-via bevel gear wheel/through-hole bevel gear wheel carries out its correspondence that dallies
Magnet exciting coil there is no electric current.
The invention has the advantages that compared with prior art, eliminating traditional power sense feedback device directly torque control system
Delay and jitter, due to being by the way of hydraulic power, power transmission process is softer, also improve power sense feedback sound
Between seasonable and accuracy, for the product of existing power sense feedback, the present invention focuses on to improve the service life of invention
The simplification built with device since reversing arrangement is often in magnetorheological fluid, and is located at drums inside, is changed using bevel gear
The service life of the present invention can be made elongated to device, while improve load carrying capacity, chemically-resistant and corrosivity are strong, in addition
The also effect of noise reduction and damping most importantly makes total weight of the present invention light using bevel gear reversing arrangement, reduces system
This is caused, and is easy to be molded, be easily assembled, to the disadvantage that solving device is complicated, vibration noise is big, of high cost.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the magnetorheological fluid power sense feedback device axonometric drawing of monotubular bevel gear type；
Fig. 2 is the magnetorheological fluid power sense feedback device front view of monotubular bevel gear type；
Fig. 3 is the magnetorheological fluid power sense feedback device vertical view of monotubular bevel gear type；
Fig. 4 is the magnetorheological fluid power sense feedback device sectional view of monotubular bevel gear type；
Fig. 5 is the magnetorheological fluid power sense feedback device control flow of monotubular bevel gear type and signal transmission figure；
Fig. 6 is the magnetorheological fluid power sense feedback device through-hole bevel gear wheel axonometric drawing of monotubular bevel gear type；
Fig. 7 is the magnetorheological big conical tooth shaft mapping of fluid power sense feedback device half-via of monotubular bevel gear type；
Fig. 8 is the magnetorheological fluid power sense feedback device commutation bevel pinion axonometric drawing of monotubular bevel gear type；
Fig. 9 is that the magnetorheological fluid power sense feedback device bevel gear of monotubular bevel gear type connects T shape axis axonometric drawings；
Figure 10 is the magnetorheological fluid power sense feedback device end cover axonometric drawing of monotubular bevel gear type；
Figure 11 is the magnetorheological fluid power sense feedback device output shaft axonometric drawing of monotubular bevel gear type；
Figure 12 is the magnetorheological fluid power sense feedback device input shaft axonometric drawing of monotubular bevel gear type；
Figure 13 is the magnetorheological fluid power sense feedback device magnet exciting coil axonometric drawing of monotubular bevel gear type.
In figure, 1. steering wheels, 2. steering columns, 3. bearings, 4. bearing spiders, 5. shaft couplings, 6. output shafts, 7. keys, 8. is defeated
Go out end casing, 9. seal washers, 10. magnet exciting coils, 11.O shape sealing rings, 12. rollers, 13. tighten end cap, 14. input end caps
Plate, 15. gasket seals, 16. end covers, 17. motors, 18. holders, 19. input shafts, 20. felt collars, 21. first sleeves, 22.
Through-hole bevel gear wheel, 23. commutation bevel pinions, 24. bevel gears connect T shape axis, 25. second sleeves, 26. half-via auger teeth
Wheel, 27. corners and torque sensor, 28. power sense controllers, 29. electric machine controllers, 30. motor drivers, 31. magnetorheological fluids
Controller, 32. current feedback circuits, 33. power supplys.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs 1-4, the magnetorheological fluid power sense feedback device of monotubular bevel gear type, including power sense simulation system, power sensing control
System, power sense generation system, exchange system and power supply system processed；
The magnetorheological fluid power sense feedback device of monotubular bevel gear type includes holder 18, be equipped with successively on holder 18 bearing spider 4,
Corner and torque sensor 27, magnet exciting coil 10 and motor 17；
Power sense simulation system：According to the angular signal of steering wheel 1, the size for generating theory orientation disk power sense and side
To；Including steering wheel 1, steering column 2, bearing 3, bearing spider 4, shaft coupling 5, corner and torque sensor 27, power sense controller
28；Steering wheel 1 and steering column 2 are rigidly connected, and steering column 2 is fixed to by bearing 3 on bearing spider 4, and steering column 2 passes through shaft coupling
Device 5 is rigidly connected with corner and torque sensor 27, and corner and torque sensor 27 pass through signal wire attachment force sense controller 28；
Power sense control system：Corresponding control signal is generated according to theoretical power sense, for controlling 17 rotating speed of motor and magnetic current
Become the viscosity of liquid；Including electric machine controller 28, motor driver 30, magnetorheological fluid controller 31, current feedback circuit 32, such as Fig. 4
Shown, corner and torque sensor 27 are connect with power sense controller 28 and magnetorheological fluid controller 31 respectively by signal wire, power
Sense controller 28 is connected with magnetorheological fluid controller 31, current feedback circuit 32 and magnet exciting coil 10 successively by signal wire, electricity
Machine controller 29 is connected with motor driver 30, motor 17 successively by signal wire；
Power sense generation system：Control signal for receiving 1 power sense of steering wheel is simultaneously passed according to electromagnetic action and viscous liquid
Action generation actual torque；Including shaft coupling 5, magnet exciting coil 10, motor 17, input shaft 19, end cover 16, gasket seal
15, it is big that felt collar 20, bearing 3, the first sleeve 21, second sleeve 25, O-ring seals 11, through-hole bevel gear wheel 22, half-via are sealed
Bevel gear 26, commutation bevel pinion 23, bevel gear connection T shapes axis 24, tighten end cap 13, roller 12, key 7, output end casing 8,
End casing 14 is inputted, as shown in figures 5-13；For the setting of roller 12 at 18 middle part of holder, corner and torque sensor 27 pass through shaft coupling
It is rigidly connected with output shaft 6, output shaft 6 is connected by key 7 with output end casing 8, and motor 17 passes through shaft coupling and input shaft
19 one end rigid connection, the other end of input shaft 19 are connect by key with half-via bevel gear wheel 26, half-via bevel gear wheel
26 engaged gears commutation bevel pinion 23, roller 12 pass through screw and seal washer 9 and input end casing 14 and output end casing 8
Both sides up and down be connected, half-via bevel gear wheel 26 and output end casing 8 between form enclosure space, through-hole bevel gear wheel 22
Enclosure space is formed between input end casing 14, two enclosure spaces are equipped with magnetorheological fluid, are all provided with outside two enclosure spaces
Have a magnet exciting coil 10, input shaft 19 is equipped with the first sleeve 21 and second sleeve 25, the first sleeve 21 be placed in magnetorheological fluid with it is defeated
Between entering axis 19, second sleeve 25 is placed between half-via bevel gear wheel 26 and bevel gear connection T shapes axis 24, inputs end casing 14
It is connected with end cover 16 by screw and gasket seal 15, end cover 16 and the junction of input shaft 19 are equipped with felt collar
20；
Exchange system：For making through-hole bevel gear wheel 22 and half-via bevel gear wheel 26 be remained after the unlatching of motor 17
Counter motion generates the power sense of opposite direction；Including input shaft 19, through-hole bevel gear wheel 22, half-via bevel gear wheel 26, commutation
Bevel pinion 23, tightens end cap 13 at bevel gear connection T shapes axis 24；Input shaft 19 is equipped with bevel gear connection T shapes axis 24, bores tooth
24 both ends of wheel connection T shapes axis pass through commutation bevel pinion 23 and are threadedly coupled with it by tightening end cap 13, and roller 12 passes through O shapes
Sealing ring 11 is connected with half-via bevel gear wheel 26 and through-hole bevel gear wheel 22；
Power supply system：For providing electric energy for device；Power supply 33 by supply lines respectively with motor 17, torque sensor
27, power sense controller 28, electric machine controller 29, motor driver 30, magnetorheological fluid controller 31 are connected with current feedback circuit 32
It connects.
Electric machine controller 29 is at the uniform velocity rotated for controlling motor 17, ensures that motor 17 can be tieed up in the case where there is fluctuation of load operating mode
It holds at the uniform velocity rotation driving through-hole bevel gear wheel 22 and half-via bevel gear wheel 26 to rotate, electric machine controller 29 generates PWM control letters
Motor driver 30 number is passed to for controlling motor 17；
Motor driver 30 receives the pwm control signal that electric machine controller 29 generates, and converts thereof into voltage and current letter
Number it is conveyed to motor 17 so that motor 17 is able to maintain that preset rotating speed；
Through-hole bevel gear wheel 22 is used to generate the movement in one direction and makes through-hole bevel gear wheel 22 and input end casing
Magnetorheological fluid between 14 generates driving moment；
First sleeve 21 is freely rotated relative to input shaft 19, and the first sleeve 21 plays the role of sealing magnetorheological fluid, the
Two sleeves 25 are similarly positioned on input shaft 19, and second sleeve 25 is freely rotated relative to input shaft 19, and second sleeve 25 plays
To the position-limiting action of bevel gear connection T shapes axis 24；
Half-via bevel gear wheel 26 is used to generate the movement in another direction and makes half-via bevel gear wheel 26 and output
Magnetorheological fluid between end casing 8 generates driving moment；
Magnetorheological fluid controller 31 runs according to the size of theory orientation disk torque caused by power sense controller 28 and controls
Algorithm, decision go out the exciting current numerical value needed for magnet exciting coil 10, according to theory orientation disk power caused by power sense controller 28
The direction decision of square goes out be powered to which magnet exciting coil 10, it is ensured that through-hole bevel gear wheel 22 and input end casing 14 it
Between magnetorheological fluid or half-via bevel gear wheel 26 and output end casing 8 between magnetorheological fluid lead to magnetic, while external correspondence
Magnet exciting coil 10 be powered, while magnetorheological fluid controller 31 also receives the signal of corner and torque sensor 27 for adjusting in real time
The size of 10 electric current of magnet exciting coil is saved, and then adjusts the viscosity of corresponding magnetorheological fluid, it is ensured that passes to driver on steering column 2
Torque size it is identical as the theoretical numerical value of power sense；
Current feedback circuit 32 receives the theoretical current that magnetorheological fluid controller 31 is transmitted and generates excitation electricity of the same size
For stream for inputing to magnet exciting coil 10, current feedback circuit 32 is set is separately connected two magnet exciting coils 10 there are two channel, specifically to
Which channel conveying electric current depends on the direction of theoretical power sense, and the selection is by 31 decision of magnetorheological fluid controller.
Motor 17 is for so that through-hole bevel gear wheel 22 and the reverse rotation of half-via bevel gear wheel 26, motor 17 and input shaft
19 connections, motor 17 are rotated with driven input shaft 19, and then drive the rotation of half-via bevel gear wheel 26, half-via bevel gear wheel 26
Commutation bevel pinion 23 is driven to rotate again, bevel gear connection T shapes axis 24 is sleeved on input shaft 19, and bevel gear connects 24 liang of T shapes axis
Respectively directly through commutation 23 middle through-hole of bevel pinion, commutation bevel pinion 23 can connect on T shapes axis 24 certainly in bevel gear at end
By rotating, 24 both ends of bevel gear connection T shapes axis are threadedly coupled with end cap 13 is tightened, and are prevented commutation bevel pinion 23 from falling off, are commutated
Bevel pinion 23 drives through-hole bevel gear wheel 22 to rotate again so that through-hole bevel gear wheel 22 and 26 side of rotation of half-via bevel gear wheel
To opposite.
The magnetorheological fluid power of application method application monotubular bevel gear type of the magnetorheological fluid power sense feedback device of monotubular bevel gear type
Feel feedback device, specifically follows the steps below：
Step 1: steering wheel rotation 1 in driving procedure, 1 corner of corner and 27 detection direction disk of torque sensor it is big
Small and direction simultaneously passes it to power sense controller 28, and aligning torque is by caster and displacement and the infinitesimal of ground connection EDS maps
Lateral reaction causes, MA=QDsin β sin δ, My=Fy(ξ·+ξ··),Wherein, MAFor road surface caused by Kingpin inclination
To the steering moment of wheel, Q loads for deflecting roller, and D moves for main pins position, and β is kingpin inclination, and δ is wheel steering angle, MyFor stub
Torque caused by hypsokinesis, FyFor side force of tire, ξ·For pneumatic trail, ξ··For positive caster offset, m is complete vehicle quality, and v is
Car speed, b are the distance from barycenter to rear axle, and R is turning radius, and L is wheelbase, and damping torque is rubbed by steering and ground
Wiping causes MD=Bsθ+Qfsign (θ), wherein BsFor the damped coefficient of steering shaft in steering, θ is 1 turn of steering wheel
Angle, f are ground friction coefficients, and sign (θ) indicates moment of friction direction with 1 rotation direction of steering wheel on the contrary, therefore, theory orientation
Disk torque is represented by：Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains the size of theory orientation disk torque
And direction, and the size of theory orientation disk torque and direction are passed into magnetorheological fluid controller 31；
Step 2: magnetorheological fluid controller 31 is according to Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains reason
By steering wheel torque, the corner of direction and steering wheel 1 is on the contrary, decision goes out power and provide to which magnet exciting coil 10 is supplied
Size of current, magnetorheological fluid generate shear stress τ0=1150B4-2140B3+1169B2- 64B+0.8, wherein B is magnetic strength
Answer intensity, B=μ H, wherein μ is magnetic conductivity, and H is magnetic field intensity, is magnet exciting coil by Ampère circuital theorem Hl=NI, wherein N
10 number of turns, I are 10 electric current of magnet exciting coil, and l is the length of magnetic path, is then executed by current feedback circuit 30, magnetorheological fluid
Controller 31 can also receive the dtc signal that corner and torque sensor 27 export, according to theory orientation disk torque MlNumerical value and
The numerical value of actual torque M carries out feedback regulation, feedback moment compensation rate Δ M=Ml- M, it is ensured that be ultimately transferred to the power of driver
Square is equal with theory orientation disk torque；
Step 3: electric machine controller 29 controls motor 17 by motor driver 30 maintains constant speed rotation, through-hole auger tooth
Wheel 22 and half-via bevel gear wheel 26 are driven and commutated by commutation bevel pinion 23 by motors 17 as active source, maintain always etc.
Speed reversely rotates, and 22/ half-via bevel gear wheel 26 of through-hole bevel gear wheel then can be big by through-hole by the shearing force of magnetorheological fluid
The driving moment of 22/ half-via bevel gear wheel 26 of bevel gear passes to the disconnected cover board 14 of the output input of end casing 8/ and roller 12, really
Protect output torque at any timeWherein, r is that 22/ half-via bevel gear wheel 26 of through-hole bevel gear wheel connects with magnetorheological fluid
The radius of contacting surface, τ0For the shear stress that magnetorheological fluid generates, output end casing 8 is close to the cover board 14 that breaks is inputted by magnetorheological fluid
Covering is ready to the driving moment of 22/ half-via bevel gear wheel 26 of receiving through-hole bevel gear wheel and is passed by corner and torque
Sensor 27 passes to steering wheel 1；When one side through hole bevel gear wheel, 22/ half-via bevel gear wheel 26 works, other side half-via is big
26/ through-hole bevel gear wheel 22 of bevel gear dally its corresponding magnet exciting coil 10 without electric current.
Embodiment
Motor 17 is at the uniform velocity rotated clockwise with 2 revolutions per seconds of rotating speed, then half-via bevel gear wheel 26, through-hole bevel gear wheel 22
Reversely rotated with identical rotating speed, driver rotates counterclockwise steering wheel 1 from zero-bit at this time, and 28 decision of power sense controller goes out theory
After the size of power sense, the theoretical current of magnet exciting coil 10 is gone out by 31 decision of magnetorheological fluid controller, at the same time power sensing control
The direction that 28 decision of device processed goes out theoretical power sense should be clockwise, then magnetorheological fluid controller 31 controls current feedback circuit 32, choosing
Select to half-via bevel gear wheel 26 and output end casing 8 between magnetorheological fluid lead to magnetic, corresponding external excitation coil 10 into
Row is powered, and the magnetorheological fluid inside magnet exciting coil 10 generates magnetic field, changes the viscosity of magnetorheological fluid to suitable size, clockwise
Under the action of the half-via bevel gear wheel 26 of rotation, output end casing 8 will generate equal-sized anti-clockwise with theoretical power sense
Feedback torque is transferred on steering wheel 1, and through-hole bevel gear wheel 22 dallies at this time；Driver rotates clockwise steering wheel from zero-bit at this time
1 power sense controller, 28 decision goes out after the size of theoretical power sense, goes out magnet exciting coil 10 by 31 decision of magnetorheological fluid controller
Theoretical current, the direction that at the same time 28 decision of power sense controller goes out theoretical power sense should be counterclockwise, then magnetorheological fluid controls
Device 31 controls current feedback circuit 32, and the magnetorheological fluid between through-hole bevel gear wheel 22 and input end casing 14 is selected to lead to magnetic,
Corresponding external excitation coil 10 is powered, and the magnetorheological fluid inside magnet exciting coil 10 generates magnetic field, changes magnetorheological fluid
Viscosity is to suitable size, and under the action of the through-hole bevel gear wheel 22 rotated counterclockwise, input end casing 14 will generate and theory
The equal-sized feedback moment counterclockwise of power sense is transferred on steering wheel 1, and half-via bevel gear wheel 26 dallies at this time.
By the control of magnetorheological fluid controller 31 and the execution of bevel gear exchange system, and current feedback circuit 32 with
When switch supplying channels, which can export the torque of arbitrary size and direction under 1 any position of steering wheel, entire to control
Process does not have the presence that motor 17 commutates, therefore the response speed of system will be determined by the response speed of magnetorheological fluid.And magnetic current
Become the response speed of liquid in Millisecond, because the invention has more advantage than existing traditional power sense feedback device.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (5)
1. the magnetorheological fluid power sense feedback device of monotubular bevel gear type, which is characterized in that including holder (18), on holder (18) successively
Equipped with bearing spider (4), corner and torque sensor (27), magnet exciting coil (10) and motor (17), steering wheel (1) and steering column
(2) be rigidly connected, steering column (2) by bearing (3) be fixed to bearing spider (4) on, steering column (2) by shaft coupling (5) with
Corner and torque sensor (27) rigid connection, roller (12) setting is in the middle part of holder (18), corner and torque sensor (27)
It is rigidly connected by shaft coupling and output shaft (6), output shaft (6) is connected by key (7) with output end casing (8), motor
(17) it is rigidly connected by one end of shaft coupling and input shaft (19), the other end of input shaft (19) passes through key and half-via auger
Gear (26) connects, half-via bevel gear wheel (26) engaged gears commutation bevel pinion (23), and input shaft (19) is equipped with cone tooth
Wheel connection T shapes axis (24), bevel gear connect T shapes axis (24) both ends and pass through commutation bevel pinion (23) and by tightening end cap (13)
It is threadedly coupled with it, input shaft (19) is connect close to one end of motor (17) with through-hole bevel gear wheel (22), and roller (12) passes through
Screw and seal washer (9) are connected with the both sides up and down of input end casing (14) and output end casing (8), half-via auger tooth
Enclosure space, shape between through-hole bevel gear wheel (22) and input end casing (14) are formed between wheel (26) and output end casing (8)
At enclosure space, two enclosure spaces are equipped with magnetorheological fluid, and magnet exciting coil (10), input shaft are equipped with outside two enclosure spaces
(19) be equipped with the first sleeve (21) and second sleeve (25), the first sleeve (21) be placed in magnetorheological fluid and input shaft (19) it
Between, second sleeve (25) is placed between half-via bevel gear wheel (26) and bevel gear connection T shapes axis (24), inputs end casing (14)
It is connected with gasket seal (15) and end cover (16) by screw, end cover (16) and the junction of input shaft (19) are set
There are felt collar (20), roller (12) to pass through O-ring seals (11) and half-via bevel gear wheel (26) and through-hole bevel gear wheel (22) phase
Connection, corner and torque sensor (27) are connected with power sense controller (28) and magnetorheological fluid controller (31) respectively by signal wire
Connect, power sense controller (28) by signal wire successively with magnetorheological fluid controller (31), current feedback circuit (32) and magnet exciting coil
(10) it is connected, electric machine controller (29) is connected with motor driver (30), motor (17) successively by signal wire.
2. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that power supply (33)
By supply lines respectively with motor (17), corner and torque sensor (27), power sense controller (28), electric machine controller (29),
Motor driver (30), magnetorheological fluid controller (31), current feedback circuit (32) are connected.
3. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that described first
Sleeve (21) and second sleeve (25) can be freely rotated relative to input shaft (19).
4. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that the electric current
Generator (32) is set there are two channel.
5. a kind of user of the magnetorheological fluid power sense feedback device of monotubular bevel gear type as described in claim 1-4 any one
Method, which is characterized in that specifically follow the steps below：
Step 1: steering wheel rotation (1) in driving procedure, corner and torque sensor (27) detection direction disk (1) corner
Size and direction simultaneously pass it to power sense controller (28), and aligning torque is by caster and displacement and is grounded EDS maps
Infinitesimal lateral reaction causes, MA=QDsin β sin δ, My=Fy(ξ·+ξ··),Wherein, MACaused by Kingpin inclination
Road surface is to the steering moment of wheel, and Q is deflecting roller load, and D is that main pins position is moved, and β is kingpin inclination, and δ is wheel steering angle, MyFor
Torque caused by reverse caster, FyFor side force of tire, ξ·For pneumatic trail, ξ●●For positive caster offset, m is complete vehicle quality,
V is car speed, and b is the distance from barycenter to rear axle, and R is turning radius, and L is wheelbase, and damping torque is by steering and ground
Face friction causes MD=Bsθ+Qfsign (θ), wherein BsFor the damped coefficient of steering shaft in steering, θ is direction
Disk (1) corner, f are ground friction coefficients, sign (θ) indicate moment of friction direction with steering wheel (1) rotation direction on the contrary, because
This, theory orientation disk torque is represented by：Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains theory orientation disk
The size of torque and direction, and the size of theory orientation disk torque and direction are passed into magnetorheological fluid controller (31)；
Step 2: magnetorheological fluid controller (31) is according to Ml=F (θ)=(MA+My)/i+(MD-Bs·θ)/i+Bsθ obtains theory
Steering wheel torque, the corner of direction and steering wheel (1) is on the contrary, decision goes out power to which magnet exciting coil (10) and provide institute
The size of current of confession, the shear stress τ that magnetorheological fluid generates0=1150B4-2140B3+1169B2- 64B+0.8, wherein B is magnetic
Induction, B=μ H, wherein μ is magnetic conductivity, and H is magnetic field intensity, is excitation wire by Ampère circuital theorem Hl=NI, wherein N
The number of turns of (10) is enclosed, I is magnet exciting coil (10) electric current, and l is the length of magnetic path, is then executed by current feedback circuit (30),
Magnetorheological fluid controller (31) can also receive corner and the dtc signal of torque sensor (27) output, according to theory orientation disk power
Square MlNumerical value and actual torque M numerical value carry out feedback regulation, feedback moment compensation rate Δ M=Ml- M, it is ensured that be ultimately transferred to
The torque of driver is equal with theory orientation disk torque；
Step 3: electric machine controller (29) controls motor (17) by motor driver (30) maintains constant speed rotation, through-hole auger
Gear (22) and half-via bevel gear wheel (26) are driven by motor (17) as active source and are commutated by commutation bevel pinion (23),
Maintain constant speed to reversely rotate, through-hole bevel gear wheel (22)/half-via bevel gear wheel (26) can then pass through magnetorheological fluid always
The driving moment of through-hole bevel gear wheel (22)/half-via bevel gear wheel (26) is passed to output end casing (8)/input by shearing force
Disconnected cover board (14) and roller (12), it is ensured that output torque at any time, according toWherein, r is through-hole bevel gear wheel
(22) radius of/half-via bevel gear wheel (26) and magnetorheological fluid contact surface, τ0For the shear stress that magnetorheological fluid generates, output
End casing (8) and the disconnected cover board (14) of input are close to cover by magnetorheological fluid, and it is logical to be ready to receiving through-hole bevel gear wheel (22)/half
The driving moment of hole bevel gear wheel (26) simultaneously passes to steering wheel (1) by corner and torque sensor (27), and a side through hole is big
When bevel gear (22)/half-via bevel gear wheel (26) work, other side half-via bevel gear wheel (26)/through-hole bevel gear wheel (22)
Its corresponding magnet exciting coil (10) dally without electric current.
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| KR20000073115A (en) * | 1999-05-06 | 2000-12-05 | 윤덕용 | Electronically controlled power steering apparatus by magneto-rheological fluid |
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