CN108583676A - Magnetorheological fluid birotor power sense feedback device and its application method - Google Patents
Magnetorheological fluid birotor power sense feedback device and its application method Download PDFInfo
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- CN108583676A CN108583676A CN201810409449.1A CN201810409449A CN108583676A CN 108583676 A CN108583676 A CN 108583676A CN 201810409449 A CN201810409449 A CN 201810409449A CN 108583676 A CN108583676 A CN 108583676A
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- rotor
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- magnetorheological fluid
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- internal rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of magnetorheological fluid birotor power sense feedback device and its application method, magnetorheological fluid birotor power sense feedback device includes power sense simulation system, power sense control system, power sense generation system, exchange system and power supply system.The present invention uses dual rotors system, coordinates bevel gear exchange system so that motor can provide the driving moment of different directions under permanent speed conditions for the outer rotor of two sets of rotor-support-foundation systems, therefore motor control is more simple.
Description
Technical field
The invention belongs to automobile electrically-controlled and intelligent field, be related to a kind of magnetorheological fluid birotor power sense feedback 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.
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 birotor power sense feedback device of present invention offer and its application method,
It solves power sense feedback device delay jitter in the prior art and control irregularity, mechanical connecting device is complicated and easy
Problem.
The technical solution adopted in the present invention is magnetorheological fluid birotor power sense feedback device, including bracket, on bracket according to
It is secondary to be equipped with the support of bearing, corner and torque sensor, the second magnet exciting coil, idler bearing holder, the first magnet exciting coil and motor,
Steering column is fixed on by steering stem bearing on the support of bearing, and steering column is rigidly connected with steering wheel, and steering column passes through shaft coupling
It is connected with one end of corner and torque sensor, the output end of motor is connected by shaft coupling with the first outer rotor, and first
It includes the first outer rotor and the first internal rotor to cover rotor-support-foundation system, and the first outer rotor is fixedly connected on support by the first outer rotor bearing
On the support of bearing of frame, the first outer rotor is connected by two the first inner rotor bearings with the first internal rotor, the first internal rotor
It is equipped with sealing ring full of its junction of magnetorheological fluid with inside the first outer rotor, the first magnet exciting coil is looped around the first outer rotor
Outside, the second internal rotor is connected by shaft coupling with the other end of corner and torque sensor, and the first internal rotor passes through shaft coupling
It is rigidly connected with the second internal rotor, second set of rotor-support-foundation system includes the second internal rotor and the second outer rotor, and the second internal rotor passes through
Second inner rotor bearing is fixed on the support of bearing of bracket, the second internal rotor by two the second outer rotor bearings and second outside
Rotor connects, and sealing ring, the second excitation wire are equipped with full of its junction of magnetorheological fluid inside the second internal rotor and the second outer rotor
Ring is wound on outside the second outer rotor；First outer rotor is rigidly connected with first bevel gear, and the second outer rotor and second bevel gear are rigid
Property connection, idle pulley is fixedly connected on by idler bearing on idler bearing holder, and second bevel gear passes through two idle pulleys and first
Bevel gear engages；Corner and torque sensor are connected with power sense controller and electric machine controller respectively by signal wire, power sense
Controller is connected with magnetorheological fluid controller, current feedback circuit successively by signal wire, electric machine controller by signal wire according to
It is secondary to be connected with motor driver, motor.
Further, power supply by supply lines respectively with corner and torque sensor, motor, power sense controller, motor control
Device processed, motor driver, magnetorheological fluid controller, current feedback circuit are connected.
Further, the internal rotor that first internal rotor and the second internal rotor use is drum-type internal rotor or stacked
Any one of internal rotor.
The another technical solution that the present invention uses is the application method of magnetorheological fluid birotor power sense feedback device, tool
Body follows the steps below：
Step 1: the steering wheel rotation in driving procedure, steering wheel and steering column are rotated around own axes, corner and turn
The size of square sensor detection direction disk corner and direction simultaneously pass it to power sense controller, and aligning torque is by Kingpin inclination
Aligning torque MAWith pneumatic trail aligning torque MYComposition, MA=QDsin β sin δ, Q=mgbL, wherein MAFor Kingpin inclination
Aligning torque, Q are tyre load, and D is stub inset from β is kingpin inclination, and δ is front wheel angle, and m is vehicle mass, g
For acceleration of gravity, b is vehicle centroid to the distance of rear axle, and L is wheelbase；MY=FY(ξ '+ξ "),Wherein, MYFor pneumatic trail aligning torque, FYFor lateral force, ξ ' is pneumatic tyre
Drag, ξ " are hypsokinesis drag, and v is speed, and R is turning radius, k2For trailing wheel roll stiffness, k1For incline of front wheels rigidity, a is vehicle
Barycenter is to the distance of front axle, damping torque MD=Bs·δs+Q·f·sign(δs), wherein BsFor steering convert to turn
To the damped coefficient of column, δsFor steering wheel angle, f is tire and ground friction coefficient, and sign expressions take symbolic operator；Theory side
To disk torqueWherein, i is steering transmission ratio,pFor force aid system
Power-assisted coefficient, F (δs) it is theory orientation disk torque and steering wheel angle δsBetween function, power sense controller is by theory orientation disk
The size of torque and direction simultaneously pass to magnetorheological fluid controller；
Step 2: electric machine controller controls motor by motor driver maintains constant speed rotation, the second outer rotor and first
Outer rotor is motor driven as active source and maintains constant speed to reversely rotate always by second bevel gear and first bevel gear commutation,
Ensure output torque at any timeL1For effective active length；R1Have for the internal rotor of the first internal rotor/second
Imitate the radius of clean-up；R2For the effective radius of clean-up of outer rotor of the first outer rotor/second；τ0For magnetorheological fluid shear magnetic stress, second
Internal rotor and the first internal rotor are surrounded by magnetorheological fluid, are ready to receive the driving moment of its corresponding outer rotor and by turning
Angle and torque sensor pass to steering wheel, which final internal rotor, which receives driving moment, is determined by the viscosity of magnetorheological fluid
, the driving moment on its outer rotor can then be passed to internal rotor by the set rotor-support-foundation system in this way, be ultimately transferred to driver,
Another set of magnet exciting coil does not have electric current while a set of rotor-support-foundation system work, dallies；
Step 3: magnetorheological fluid controller obtains the second magnet exciting coil or first according to the size of theory orientation disk torque
The theoretical current size of magnet exciting coil, according to theory orientation disk torque M1Direction obtain and power to which magnet exciting coil, τ0
=1150B4-2140B3+1169B2- 64B+0.8,Wherein, B is magnetic induction intensity；μ is dielectric permeability, and N is excitation
Coil turn, I are field coil current, and l is the length of magnetic path, is then executed by current feedback circuit；Magnetorheological fluid controls
Device can also receive corner and the dtc signal of torque sensor output, according to the numerical value of theory orientation disk torque and actual torque
Numerical value carries out feedback regulation, Δ T=M1- T,Δτ0=1150B4-2140B3+1169B2-64B+
0.8,Wherein, T actual steering wheel feedback moments between inner and outer rotors, Δ T are feedback moment compensation rate, Δ τ0For magnetic
Rheology liquid shear stress compensation rate, it is ensured that the torque for being ultimately transferred to driver is equal with theory orientation disk torque.
The invention has the advantages that compared with prior art, the present invention uses dual rotors system, cooperation bevel gear commutation
System so that motor can provide the driving moment of different directions under permanent speed conditions for the outer rotor of two sets of rotor-support-foundation systems,
Therefore motor control is more simple.And each parts machining is easy in double set rotor-support-foundation systems, and simple installation, sealing effect is good,
It is beneficial to increase the service life of device.And the dimensional structure of double set rotor-support-foundation systems is identical, therefore transmission torque capability is identical, makes
Magnetorheological fluid control parameter is identical when obtaining the feedback moment of present apparatus output different directions, and control process is more simple；Again, institute
There is parts arranged coaxial, remove the additional torque that device is born from, service using life further increases.The present invention in order to
Simplify the response speed and power sense feedback accuracy for increasing power sense feedback device on the basis of motor controls.Device is using double set rotor systems
Conjunction bevel gear exchange system under unified central planning, motor coordinate with bevel gear exchange system, and two outer rotors of driving do difference as active source
The rotation in direction ensures the driving moment for providing any direction for system at any time.
Bevel gear type commutating structure simple installation, structural principle is very clear, and can realize that constant speed commutates, such two sets
The magnetorheological fluid control parameter of rotor is identical, reduces the control difficulty of device.In addition bevel gear type changement is due to each tooth
There is no containing connections between wheel, therefore replace corrupted part and be easy, and recoverability is strong.
Motor control in this way is more simple, only need to maintain constant speed.The purpose of double set rotor-support-foundation systems is to enable power sense
The response speed of reponse system is determined by magnetorheological fluid completely, when upper layer power sense simulation algorithm provides desired feedback moment, is only needed
Exciting current is provided to corresponding a set of rotor-support-foundation system, the viscosity moment of magnetorheological fluid changes, driving moment then wink
Between can be transferred on internal rotor, and exported to steering wheel via corner and torque sensor.
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 magnetorheological fluid birotor power sense feedback device axonometric drawing；
Fig. 2 is magnetorheological fluid birotor power sense feedback device vertical view；
Fig. 3 is magnetorheological fluid birotor power sense feedback device sectional view；
Fig. 4 is that magnetorheological fluid birotor power sense feedback device control flow and signal transmit schematic diagram；
Fig. 5 is magnetorheological fluid birotor power sense feedback device the second outer rotor shaft mapping；
Fig. 6 is magnetorheological fluid birotor power sense feedback device the second inner rotor shaft mapping；
Fig. 7 is magnetorheological fluid birotor power sense feedback device the second magnet exciting coil axonometric drawing；
Fig. 8 is magnetorheological fluid birotor power sense feedback device second bevel gear axonometric drawing；
Fig. 9 is magnetorheological fluid birotor power sense feedback device idle pulley axonometric drawing.
In figure, 1. steering wheels, 2. supports of bearing, 3. shaft couplings, 4. corners and torque sensor, 5. second magnet exciting coils,
6. second bevel gear, 7. first bevel gears, 8. first magnet exciting coils, 9. motors, 10. brackets, 11. idler bearings, 12. idler shafts
Hold holder, 13. idle pulleys, 14. steering stem bearings, 15. second inner rotor bearings, 16. sealing rings, 17. second outer rotor bearings,
18. the second outer rotor, 19. second internal rotors, 20. magnetorheological fluids, 21. first inner rotor bearings, 22. first internal rotors, 23.
One outer rotor, 24. first outer rotor bearings, 25. steering columns, 26. power sense controllers, 27. electric machine controllers, the driving of 28. motors
Device, 29. magnetorheological fluid controllers, 30. current feedback circuits, 31. 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. 1-3, magnetorheological fluid birotor power sense feedback device, including power sense simulation system, power sense control system,
Power sense generation system, exchange system and power supply system；
Magnetorheological fluid birotor power sense feedback device, including bracket 10 are equipped with the support of bearing 2, corner on bracket 10 successively
And torque sensor 4, the second magnet exciting coil 5, idler bearing holder 12, the first magnet exciting coil 8 and motor 9,
Power sense simulation system：According to the angular signal of steering wheel 1, the size for generating theory orientation disk torque and side
To；Including steering wheel 1, the support of bearing 2, shaft coupling 3, corner and torque sensor 4, steering stem bearing 14, steering column 25, power sense
Controller 26；It is equipped with the support of bearing 2 and corner successively on bracket 10 and torque sensor 4, steering column 25 pass through steering stem bearing
14 are fixed on the support of bearing 2, and steering wheel 1 is rigidly connected with steering column 25, and steering column 25 passes through shaft coupling 3 and corner and torque
One end of sensor 4 is connected, and corner and torque sensor 4 are connect by signal wire with power sense controller 26；
Power sense control system：Generate corresponding control signal according to theory orientation disk torque, for control 9 rotating speed of motor and
Magnetorheological fluid viscosity；As shown in figure 4, corner and torque sensor 4 by signal wire respectively with power sense controller 26 and motor control
Device 27 processed is connected, and power sense controller 26 is connected with magnetorheological fluid controller 29, current feedback circuit 30 successively by signal wire,
Electric machine controller 27 is connected with motor driver 28, motor 9 successively by signal wire；
Electric machine controller 27 maintains 9 constant speed rotary of motor, and original rotating speed is also able to maintain that when being loaded by moment of face
It is constant；Electric machine controller 27 do not stress sense controller 26 domination, as long as system startup will voluntarily send out control signal pass to
Motor driver 28, electric machine controller 27 send out pwm control signal, which turned according to the preset expectation motor of system
Fast-growing at, but the signal can not directly control motor 9, need to convert thereof into voltage and current letter by motor driver 28
The rotation of motor 9 can be directly controlled by number passing to motor 9, in order to be enabled electric machine controller 27 control motor 9 and be maintained motor 9
Rotating speed it is constant；
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；Shaft coupling 3, the second magnet exciting coil 5, the first magnet exciting coil 8, motor 9, the second inner rotor bearing
15, sealing ring 16, the second outer rotor bearing 17, the second outer rotor 18, the second internal rotor 19, magnetorheological fluid 20, the first internal rotor
Bearing 21, the first internal rotor 22, the first outer rotor 23, the first outer rotor bearing 24, as shown in figures 5-9；The output end of motor 9 is logical
Shaft coupling 3 to be crossed with the first outer rotor 23 to be connected, first set rotor-support-foundation system includes the first outer rotor 23 and the first internal rotor 22, the
One outer rotor 23 is fixedly connected on by the first outer rotor bearing 24 on the support of bearing of bracket 10, and the first outer rotor 23 passes through two
A first inner rotor bearing 21 is connected with the first internal rotor 22, and the first internal rotor 22 and 23 inside of the first outer rotor are full of magnetic current
Become its junction of liquid 20 and be equipped with sealing ring 16, the first magnet exciting coil 8 is looped around outside the first outer rotor 23, and the second internal rotor 19 passes through
Shaft coupling is connected with the other end of corner and torque sensor 4, and the first internal rotor 22 passes through shaft coupling and the second internal rotor 19
Rigid connection, second set rotor-support-foundation system include the second internal rotor 19 and the second outer rotor 18, and the second internal rotor 19 is by second
Rotor bearing 15 is fixed on the support of bearing of bracket 10, and the second internal rotor 19 passes through two the second outer rotor bearings 17 and second
Outer rotor 18 connects, and the second internal rotor 19 and 18 inside of the second outer rotor are equipped with sealing ring full of its junction of magnetorheological fluid 20
16, the second magnet exciting coil 5 is looped around outside the second outer rotor 18；
Exchange system：For making the first outer rotor 23 driven by motor 9 and the second outer rotor 19 and remaining reversed
Movement, generates the power sense of opposite direction；Including second bevel gear 6, first bevel gear 7, idler bearing 11, idler bearing holder
12, idle pulley 13；First outer rotor 23 is rigidly connected with first bevel gear 7, and the second outer rotor 18 connects with 6 rigidity of second bevel gear
It connects, idle pulley 13 is connected to by idler bearing 11 on idler bearing holder 12, and second bevel gear 6 passes through two idle pulleys 13 and first
Bevel gear 7 engages；
Power supply system：For providing electric energy for device；Power supply 31 by supply lines respectively with corner and torque sensor 4,
Motor 9, power sense controller 26, electric machine controller 27, motor driver 28, magnetorheological fluid controller 29,30 phase of current feedback circuit
Connection.
Electric machine controller 27 is at the uniform velocity rotated for controlling motor 9, ensures that motor 9 is able to maintain that in the case where there is fluctuation of load operating mode
At the uniform velocity rotation the first outer rotor 23 of driving and the rotation of the second outer rotor 18, electric machine controller 27 generates pwm control signal and passes to
Motor driver 28 is for controlling motor 9；
Motor driver 28 receives the pwm control signal that electric machine controller 27 generates, and converts thereof into voltage and current letter
Number it is conveyed to motor 9 so that motor 9 is able to maintain that preset rotating speed；
First outer rotor 23 is used to generate movement and the driving moment of first set rotor-support-foundation system；
First internal rotor 22 is according to the direction of motion of the first outer rotor 23 and the big abortion of inside 20 viscosity of magnetorheological fluid
The torque in raw same direction；
Second outer rotor 18 is used to generate movement and the driving moment of second set of rotor-support-foundation system；
Second internal rotor 19 is according to the direction of motion of the second outer rotor 18 and the big abortion of inside 20 viscosity of magnetorheological fluid
The torque in raw same direction；
The internal rotor that first internal rotor 22 and the second internal rotor 19 use is drum-type internal rotor or stacked internal rotor
Any one, drum-type internal rotor is as shown in Figure 6 b, and the corresponding magnetorheological fluid birotor power sense of corresponding drum-type internal rotor is anti-
Device is presented, as shown in Figure 3b, stacked internal rotor is as shown in Figure 6 a, and the corresponding magnetorheological fluid of stacked internal rotor is double accordingly turns
Sub- power sense feedback device is as shown in Figure 3a, and magnetorheological fluid birotor power sense feedback device is double set rotor-support-foundation systems, wherein outside first
Rotor 23 and the second unofficial biography 18 are driven by motor 9, are active sources, the first internal rotor 22 and the second internal rotor 19 are by magnetorheological fluid
20 drivings, are driven sources.First outer rotor 23 and the second unofficial biography 18 carry out as active source under the driving of motor 9 reversely even
Speed rotation, moment keep driving condition, the first internal rotor 22 and the second internal rotor 19 to be used as driven source, the driving moment received
Size is controlled by 20 viscosity of magnetorheological fluid, and viscosity is zero not transmit torque then, and the viscosity the big, the power that driven source is received
Square is bigger, and then driven source passes torque to corner and torque sensor 4, then passes to steering wheel 1 by it.
First bevel gear 7 is used to transmit the movement of the first outer rotor 23；
Idle pulley 13 for changing first bevel gear 7 movement；
Second bevel gear 6 is used to the movement reversed with 7 constant speed of first bevel gear passing to the second outer rotor 18.
The application method application magnetorheological fluid birotor power sense feedback device of magnetorheological fluid birotor power sense feedback device, tool
Body follows the steps below：
Step 1: the steering wheel rotation 1 during drive simulation, steering wheel 1 and steering column 25 are rotated around own axes,
The size of 4 detection direction disk corner of corner and torque sensor and direction simultaneously pass it to power sense controller 26, return positive force
Square is by Kingpin inclination aligning torqueM AWith pneumatic trail aligning torque MYComposition, MA=QDsin β sin δ, Q=mgb/L, wherein
MAFor Kingpin inclination aligning torque, Q is tyre load, and D is stub inset from β is kingpin inclination, and δ is front wheel angle, m
For vehicle mass, g is acceleration of gravity, and b is vehicle centroid to the distance of rear axle, and L is wheelbase；Wherein, MY is pneumatic trail aligning torque,
FYFor lateral force, ξ ' is pneumatic trail, and ξ " is hypsokinesis drag, and v is speed, and R is turning radius, k2For trailing wheel roll stiffness, k1For
Incline of front wheels rigidity, a are vehicle centroid to the distance of front axle, damping torque MD=Bs·δs+Q·f·sign(δs), wherein Bs
It is converted to the damped coefficient of steering column 25, δ for steeringsFor 1 corner of steering wheel, f is tire and ground friction coefficient, sign
Expression takes symbolic operator；Theory orientation disk torqueWherein, i is to turn to
Drive system ratio, p are force aid system power-assisted coefficient, F (δs) it is theory orientation disk torque and 1 corner δ of steering wheelsBetween function,
Power sense controller 26 is by the size of theory orientation disk torque and direction and passes to magnetorheological fluid controller 29；
Step 2: electric machine controller 27 controls motor 9 by motor driver 28 maintains constant speed rotation, the second outer rotor 18
Driven by motor 9 as active source with the first outer rotor 23 and maintained always by second bevel gear 6 and the commutation of first bevel gear 7 etc.
Speed reversely rotates, it is ensured that output torque at any timeL1For effective active length；R1For the first internal rotor
22/ second internal rotor, 19 effective radius of clean-up；R2For 23/ second outer rotor of the first outer rotor, 18 effective radius of clean-up；τ0For magnetic current
Become liquid 20 and shear magnetic stress, the second internal rotor 19 and the first internal rotor 22 are surrounded by magnetorheological fluid 20, be ready to receive it
The driving moment of corresponding outer rotor simultaneously passes to steering wheel 1 by corner and torque sensor 4, which final internal rotor connects
Receiving driving moment is determined by the viscosity of magnetorheological fluid 20, and the set rotor-support-foundation system then can be by the driving on its outer rotor in this way
Torque passes to internal rotor, is ultimately transferred to driver, and a set of rotor-support-foundation system magnet exciting coil another set of while work does not have
Electric current dallies；
Step 3: magnetorheological fluid controller 29 according to the size of theory orientation disk torque obtain the second magnet exciting coil 5 or
The theoretical current size of first magnet exciting coil 8, according to theory orientation disk torque M1Obtain should be to which magnet exciting coil in direction
Power supply, τ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, B is magnetic induction intensity；μ is dielectric permeability,
N is magnet exciting coil the number of turns, and I is field coil current, and l is the length of magnetic path, is then executed by current feedback circuit 30；Magnetic current
Variable flow control device 29 can also receive the dtc signal that corner and torque sensor 4 export, according to the numerical value of theory orientation disk torque
Feedback regulation, Δ T=M are carried out with the numerical value of actual torque1- T,Δτ0=1150B4-2140B3+
1169B2- 64B+0.8,Wherein, T actual steering wheel feedback moments between inner and outer rotors, Δ T compensate for feedback moment
Amount, Δ τ0For 20 shear stress compensation rate of magnetorheological fluid, it is ensured that be ultimately transferred to the torque and theory orientation disk torque of driver
It is equal.
Magnetorheological fluid controller 29 obtains the second magnet exciting coil 5 or the first excitation according to the size of theory orientation disk torque
The numerical value for the theoretical current that coil 8 should receive, and the numerical value is passed into current feedback circuit 30, then magnetorheological fluid controller 29
It is obtained and is powered to the magnet exciting coil of which set rotor-support-foundation system according to the direction of theory orientation disk torque, it is ensured that actually generated
Power sense direction is consistent with theory orientation disk torque, and current feedback circuit 30 is gathered around there are two channel, and the second magnet exciting coil 5 is respectively connected
With the first magnet exciting coil 8, magnetorheological fluid controller 29 is obtained according to the size and direction of theory orientation disk torque should be to
Two magnet exciting coils 5 or the first magnet exciting coil 8 wherein which great current values are provided, then current feedback circuit 30 passes through phase
The channel answered is executed, and whichsoever magnet exciting coil is powered, another is all without electric current, it is ensured that dual rotors system only has
One is sleeved on work, another set of idle running, and magnetorheological fluid controller 29 can also receive the torque letter that corner and torque sensor 4 export
Number, feedback regulation is carried out according to the numerical value of theory orientation disk torque and the numerical value of actual torque, it is ensured that be ultimately transferred to driver
Torque it is equal with theory orientation disk torque.
Embodiment
Motor 9 is at the uniform velocity rotated clockwise with 2 revolutions per seconds of rotating speed, then the first outer rotor 23 is also revolved with same rotational speed and direction
Turn, but the second outer rotor 18 is at the uniform velocity rotated counterclockwise with 2 revolutions per seconds of rotating speed under the action of exchange system, at this time driver from
Zero-bit rotates counterclockwise steering wheel 1, after power sense controller 26 obtains the size of theory orientation disk torque, passes through magnetorheological hydraulic control
Device 29 processed obtains the theoretical current of magnet exciting coil, and at the same time power sense controller 26 show that the direction of theory orientation disk torque should
To be clockwise, then magnetorheological fluid controller 29 controls current feedback circuit 30, selects to the to be connected with first set rotor-support-foundation system
One magnet exciting coil 8 is powered, and then the first magnet exciting coil 8 generates magnetic field to its internal magnetorheological fluid 20, changes magnetorheological
The viscosity of liquid 20 is to suitable size, under the action of the first outer rotor 23 rotated clockwise, the first internal rotor 22 will generate with
The equal-sized feedback moment clockwise of theory orientation disk torque is transferred on steering wheel 1, at this time second set of rotor-support-foundation system idle running；
Driver rotates clockwise steering wheel 1 from zero-bit at this time, after power sense controller 26 obtains the size of theory orientation disk torque, leads to
The theoretical current that magnetorheological fluid controller 29 obtains magnet exciting coil is crossed, at the same time power sense controller 26 obtains theory orientation disk power
The direction of square should be it is counterclockwise, then magnetorheological fluid controller 29 control current feedback circuit 30, select to second set of rotor system
The second magnet exciting coil 5 being connected of uniting is powered, and then the second magnet exciting coil 5 generates magnetic to its internal magnetorheological fluid 20
, change the viscosity of magnetorheological fluid 20 to suitable size, under the action of the second outer rotor 18 rotated counterclockwise, turns in second
Son 19 will be generated and is transferred on steering wheel 1 with the equal-sized feedback moment counterclockwise of theory orientation disk torque, at this time first set
Rotor-support-foundation system dallies.
By the control of magnetorheological fluid controller 29 and the execution of double set rotor-support-foundation systems, and current feedback circuit 30 is cut at any time
Supplying channels are changed, which exports the torque of arbitrary size and direction under any position of steering wheel 1, and entire control process does not have
There is the presence that motor 9 commutates, therefore the response speed of system will be determined by the response speed of magnetorheological fluid 20, and magnetorheological fluid 20
Response speed in Millisecond, therefore 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 (4)
1. magnetorheological fluid birotor power sense feedback device, which is characterized in that including bracket (10), axis is equipped with successively on bracket (10)
Hold holder (2), corner and torque sensor (4), the second magnet exciting coil (5), idler bearing holder (12), the first magnet exciting coil
(8) it is fixed on the support of bearing (2) by steering stem bearing (14) with motor (9), steering column (25), steering column (25) and direction
Disk (1) is rigidly connected, and steering column (25) is connected by shaft coupling (3) with one end of corner and torque sensor (4), motor
(9) output end is connected by shaft coupling with the first outer rotor (23), and first set rotor-support-foundation system includes the first outer rotor (23)
With the first internal rotor (22), the first outer rotor (23) is fixedly connected on the bearing of bracket (10) by the first outer rotor bearing (24)
On holder, the first outer rotor (23) is connected by two the first inner rotor bearings (21) with the first internal rotor (22), in first
Inside rotor (22) and the first outer rotor (23) sealing ring (16), the first excitation wire are equipped with full of magnetorheological fluid (20) its junction
Circle (8) is looped around the first outer rotor (23) outside, and the second internal rotor (19) is another by shaft coupling and corner and torque sensor (4)
One end is connected, and the first internal rotor (22) is rigidly connected by shaft coupling and the second internal rotor (19), second set of rotor-support-foundation system packet
The second internal rotor (19) and the second outer rotor (18) are included, the second internal rotor (19) is fixed on support by the second inner rotor bearing (15)
On the support of bearing of frame (10), the second internal rotor (19) is connected by two the second outer rotor bearings (17) and the second outer rotor (18)
It connects, sealing ring (16) is equipped with full of magnetorheological fluid (20) its junction inside the second internal rotor (19) and the second outer rotor (18),
Second magnet exciting coil (5) is looped around the second outer rotor (18) outside；First outer rotor (23) is rigidly connected with first bevel gear (7),
Second outer rotor (18) is rigidly connected with second bevel gear (6), and idle pulley (13) is fixedly connected on idle pulley by idler bearing (11)
On the support of bearing (12), second bevel gear (6) is engaged by two idle pulleys (13) with first bevel gear (7)；Corner and torque pass
Sensor (4) is connected with power sense controller (26) and electric machine controller (27) respectively by signal wire, and power sense controller (26) is logical
It crosses signal wire to be successively connected with magnetorheological fluid controller (29), current feedback circuit (30), electric machine controller (27) passes through signal
Line is connected with motor driver (28), motor (9) successively.
2. magnetorheological fluid birotor power sense feedback device according to claim 1, which is characterized in that power supply (31) passes through confession
Electric wire drives with corner and torque sensor (4), motor (9), power sense controller (26), electric machine controller (27), motor respectively
Device (28), magnetorheological fluid controller (29), current feedback circuit (30) are connected.
3. magnetorheological fluid birotor power sense feedback device according to claim 1, which is characterized in that first internal rotor
(22) and the internal rotor that uses of the second internal rotor (19) is any one of drum-type internal rotor or stacked internal rotor.
4. a kind of application method of magnetorheological fluid birotor power sense feedback device as described in claim 1-3 any one,
It is characterized in that, specifically follows the steps below：
Step 1: steering wheel rotation (1) in driving procedure, steering wheel (1) and steering column (25) are rotated around own axes, turn
The size and direction of angle and torque sensor (4) detection direction disk corner simultaneously pass it to power sense controller (26), Hui Zheng
Torque is by Kingpin inclination aligning torque MAWith pneumatic trail aligning torque MYComposition, MA=QDsin β sin δ, Q=mgb/L,
In, MAFor Kingpin inclination aligning torque, Q is tyre load, and D is stub inset from β is kingpin inclination, and δ is preceding rotation
Angle, m are vehicle mass, and g is acceleration of gravity, and b is vehicle centroid to the distance of rear axle, and L is wheelbase；MY=FY(ξ '+ξ "),Wherein, MYFor pneumatic trail aligning torque, FYFor lateral force, ξ ' is pneumatic tyre
Drag, ξ " are hypsokinesis drag, and v is speed, and R is turning radius, k2For trailing wheel roll stiffness, k1For incline of front wheels rigidity, a is vehicle
Barycenter is to the distance of front axle, damping torque MD=Bs·δs+Q·f·sign(δs), wherein BsFor steering convert to turn
To the damped coefficient of column (25), δsFor steering wheel (1) corner, f is tire and ground friction coefficient, and sign expressions take symbol to calculate
Son；Theory orientation disk torqueWherein, i is driven for steering
Than p is force aid system power-assisted coefficient, F (δs) it is theory orientation disk torque and steering wheel (1) corner δsBetween function, power sensing control
Device (26) processed is by the size of theory orientation disk torque and direction and passes to magnetorheological fluid controller (29)；
Step 2: electric machine controller (27) controls motor (9) by motor driver (28) maintains constant speed rotation, the second outer rotor
(18) it is driven by motor (9) as active source and is changed by second bevel gear (6) and first bevel gear (7) with the first outer rotor (23)
It is reversely rotated to maintenance constant speed always, it is ensured that output torque at any timeL1For effective active length；R1
For the first internal rotor (22)/second internal rotor (19) effective radius of clean-up；R2For the first outer rotor (23)/second outer rotor (18)
Effective radius of clean-up；τ0Magnetic stress is sheared for magnetorheological fluid (20), the second internal rotor (19) and the first internal rotor (22) are by magnetic
Rheology liquid (20) surrounds, and is ready to receive the driving moment of its corresponding outer rotor and by corner and torque sensor (4)
Steering wheel (1) is passed to, which final internal rotor, which receives driving moment, is determined by the viscosity of magnetorheological fluid (20), in this way
Driving moment on its outer rotor can then be passed to internal rotor by the set rotor-support-foundation system, be ultimately transferred to driver, Yi Taozhuan
Another set of magnet exciting coil does not have electric current while subsystem work, dallies；
Step 3: magnetorheological fluid controller (29) is according to theory orientation disk torque M1Size obtain the second magnet exciting coil (5) or
The theoretical current size of first magnet exciting coil (8), according to theory orientation disk torque M1Obtain should be to which excitation wire in direction
Circle power supply, τ0=1150B4-2140B3+1169B2- 64B+0.8,Wherein, B is magnetic induction intensity；μ is medium magnetic conductance
Rate, N are magnet exciting coil the number of turns, and I is field coil current, and l is the length of magnetic path, is then held by current feedback circuit (30)
Row；Magnetorheological fluid controller (29) can also receive corner and the dtc signal of torque sensor (4) output, according to theory orientation disk
The numerical value of torque and the numerical value of actual torque carry out feedback regulation, Δ T=M1- T,Δτ0=
1150B4-2140B3+1169B2- 64B+0.8,Wherein, T actual steering wheel feedback moments between inner and outer rotors, Δ T are
Feedback moment compensation rate, Δ τ0For magnetorheological fluid (20) shear stress compensation rate, it is ensured that be ultimately transferred to the torque of driver with
Theory orientation disk torque is equal.
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