CN108749916A - A kind of multi-mode steer by wire apparatus and its control method - Google Patents
A kind of multi-mode steer by wire apparatus and its control method Download PDFInfo
- Publication number
- CN108749916A CN108749916A CN201810749994.5A CN201810749994A CN108749916A CN 108749916 A CN108749916 A CN 108749916A CN 201810749994 A CN201810749994 A CN 201810749994A CN 108749916 A CN108749916 A CN 108749916A
- Authority
- CN
- China
- Prior art keywords
- motor
- steering
- planetary gear
- gear
- planet carrier
- 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.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- 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
Landscapes
- 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 multi-mode steer by wire apparatus, belong to Prospects of Automobile Steering-By-Wire field, the present invention on the output shaft of automobile by setting gradually the second planetary gear train, the first planetary gear train；The first planetary gear train, the second planetary gear train are controlled by motor respectively again, and its operating mode is controlled by setting electric machine controller, entire car controller；The invention also discloses its control methods, by controlling motor and ring gear electromagnetic clutch respectively, it is switched to four kinds of different operating modes of purely mechanic steering, electric power steering, steering-by-wire and automatic Pilot, in addition to purely mechanic steering, under other Three models, can be under the action of electromagnetic brake by locked main shaft when a motor failure, while another motor is enabled to serve as power source；When two motors fail simultaneously, the present invention is not necessarily to additional control automatically into purely mechanic steering pattern, farthest ensures the reliability turned to.
Description
Technical field
The invention belongs to automobile active steerings, more particularly, to Prospects of Automobile Steering-By-Wire field, specifically a kind of multimode
Formula steer by wire apparatus and its control method.
Background technology
Vehicle intellectualized to develop rapidly, steering-by-wire is the key link in vehicle intellectualized evolution, especially
It is one of unpiloted indispensable technology.Steering-by-wire technology is gradually ripe, has been applied in a small amount of vehicle.Steering-by-wire system
System requires redundancy and fault tolerance, not only needs to realize diagnosis and fault-tolerant control algorithm on software, it is also desirable to which hardware carries out
Redundancy Design causes wire-controlled steering system hardware layout complicated, and of high cost, hardware utilization is low.
Steering-by-wire technical research at present has the double generator redundancy steering-by-wire very much, wherein Infiniti company designs
System has succeeded to be applied in real vehicle, and in rack left and right ends, design motor speed device drives the small tooth of steering gear to the system respectively
Wheel, band carry-over bar move left and right, and clutch is closed when failure, and left-hand diverter pinion gear connect with mechanical steering tubing string to be realized turn
To, but the system redundancy is complicated, and bi-motor drives track rod, transmission effect by retarder through rack and pinion steering gear
Rate is low.
Hyundai motor corporation proposes the steer by wire apparatus and method of Dual-motors Driving rack（The patent No.
US201600144890A1）, the system do not solve motor space installation question and bi-motor failure steering pattern.Becker etc.
It is proposed a kind of wire-controlled steering system of electric-controlled hydraulic（Patent No. US20160068182A1）, which passes through two-way electric-motor pump control
System turn to wheel cylinder pressure, driving both sides drag link move left and right, but motor establish hydraulic pressure response speed it is slow, high pressure oil pipeline
Increased oil leak and there are the unreliable factors such as bubble, and cannot achieve the direct mechanical connection after steering-by-wire failure.
Yu Leiyan devises a kind of Power-driven automobile steering-by-wire system and control method（Number of patent application
201310649410.4）, which devises steering wheel force feedback motor and worm reducer simulates road feel, steering motor and row
Star gear reduction unit drives steering gear pinion gear to realize and turns to, and motor and planetary reducer are nearby installed in steering gear additional, need
More arrangement spaces are occupied, being transferred to through rack and pinion steering gear reduces motor working efficiency, and can not achieve motor mistake
The steering pattern of effect.
Li Shaosong etc. devises a kind of vehicle front active steering coupling device based on double-row planetary gear（Patent application
Numbers 201610907896.0）, which includes being mounted on power drive unit and the machine driving in shell on shell
Device is manually entered partial power and is transmitted through input shaft, help angle electrical machinery part through turbine and worm transmit lotus root close after corner by
Gear ring externally exports, and realizes variable gear ratio transmission, keeps steering procedure safer, flexible.But the device uses single motor
Design, drive path is complicated, reduces motor working efficiency, and can not achieve the steering pattern of motor failure.
A kind of mixed type wire-controlled steering system of the inventions such as Yang Lin（Number of patent application 201610989594.2）, the system road
Electrification machine and assist motor separate, and only drive two-row planetary gear retarder with a set of steering actuating motor, then through worm rack
It drives drag link to move left and right, there is force transfering characteristic controllable in real time and angle to transmit special between steering wheel unit and deflecting roller
Property, mechanical steering state is restored to by clutch in thrashing, but the system structure is complicated and transmission efficiency is low.
To sum up, existing wire-controlled steering system there are transmission efficiencies low, complicated and difficulty in arrangement and redundancy and mistake
Imitate the contradiction between operating mode demand.
Invention content
The present invention in view of the deficiencies in the prior art, provides a kind of multi-mode steer by wire apparatus, is used in device
Two-row planetary gear architecture there is force transfering characteristic controllable in real time and angle to transmit special between steering wheel unit and left and right wheels
Property, it is switched by controlling the actuation of brake switch and ring gear electromagnetic clutch of motor respectively, reaches the purely mechanic steering of switching
The functions such as pattern, electric power steering pattern, steering-by-wire pattern, automatic driving mode, automatically restore in thrashing
Purely mechanic steering state fully meets security legislation requirement.
The invention is realized in this way：
A kind of multi-mode steer by wire apparatus, the device include rack, and pinion gear is provided on the rack；Above pinion gear
It is provided with output shaft；It is connected with the second planetary gear train, the first planetary gear train in turn above output shaft；The output shaft exists
The top of first planetary gear train is also connected with steering wheel sensor, steering wheel unit in turn.
First planetary gear train is controlled by first motor；Second planetary gear train is controlled by the second motor；The first row
Star gear train includes the first sun gear, first planet carrier, the first planetary gear, ring gear；Second planetary gear train includes the second row
Star-wheel, the second sun gear, the second planet carrier, ring gear；Ring gear is engaged with the first planetary gear and the second planetary gear simultaneously, is passed through
Ring gear connects the first planetary gear train and the second planetary gear train, and transmits corner and torque；In being also set up outside ring gear
Gear ring electromagnetic clutch, ring gear electromagnetic clutch signal are connected to entire car controller；First motor（M1）, the second motor（M2）
Pass through first motor controller respectively（MCU1）, the second electric machine controller（MCU2）Signal is connected to entire car controller（VCU）.
Further, the rack both sides symmetrically arranged track rod, tie rod arm, knuckle successively；Pass through both sides
Knuckle left and right wheels are connected.
Further, the output shaft and the first sun gear are rigidly connected, and are connect by bearing with first planet carrier；Output
Axis and the second sun gear are rigidly connected, and are connect by bearing with the second planet carrier.
Further, the first planet carrier is connect with first motor；Second planet carrier is connect with the second motor.
Further, the steering wheel sensor transmissions steering wheel angle and torque information are to entire car controller.Further,
The first motor and the second motor carries electromagnetic brake, can be in active control or passive the case where powering off, automatically
Locking electric machine main shaft.
The invention also discloses a kind of control method of multi-mode steer by wire apparatus, by control respectively first motor,
The brake switch of second motor and the actuation switch of ring gear electromagnetic clutch, switch four kinds of different operating modes, described interior
Gear ring electromagnetic clutch is operated in normally closed pattern, and ring gear is by locking at this time, it is not possible to be freely rotated.Only in active control or
The case where person passively powers off, since spring force acts on, clutch separation, ring gear can be freely rotated.
Specific four kinds of control models are specific as follows：
The control instruction that VCU is inputted according to driver automatically controls the present apparatus and is operated in electric boosted, steering-by-wire or drives automatically
3 kinds of patterns are sailed, while operating mode is automatically switched according to fault message：1）There is no failure：First planetary gear train, the second planet
Gear train transmits motor driving moment, and driving pinion, rack realize steering task；2）It is faulty：And it is judged as single motor event
Barrier or bi-motor failure, entire car controller automatically switch steering pattern according to fault message.If single motor failure, then cut off
Faulty motor power supply provides driving moment by non-faulting motor, ensures that steering is working properly；If bi-motor failure, then
All motor powers are cut off, and detach ring gear electromagnetic clutch, automatically switch to purely mechanic steering operating mode.
Purely mechanic steering pattern：The first motor（M1）, the second motor（M2）It brakes, first planet carrier and the second row
Carrier is locked, the first planetary gear and the second planetary gear can only rotation can not revolve round the sun；Power is inputted from steering wheel unit, by the
One sun gear, the first planetary gear, ring gear, the second planetary gear, the second sun gear, output shaft, are transmitted to and pinion gear and rack；
Electric power steering pattern：The first motor braking, first planet carrier are locked, and the first planetary gear can only rotation；It is interior
Gear ring electromagnetic clutch detaches, and ring gear is free to rotate；There are two power sources, and one is inputted from steering wheel unit, by the
One sun gear, the first planetary gear, ring gear；Secondly for the second motor input, after the second planet carrier, the second planetary gear with it is interior
The power coupling of gear ring, collective effect are eventually transferred into and pinion gear and rack in the second sun gear；
Steering-by-wire pattern：Ring gear electromagnetic clutch is closed, and ring gear is locked；At this point, first motor is as road feel motor,
By first planet carrier, the first planetary gear, the first sun gear road feel feedback is provided for steering wheel unit；Second motor is as steering
Motor is eventually transferred into pinion gear and rack by the second planet carrier, the second planetary gear, the second sun gear, completes to turn to dynamic
Make；
Automatic driving mode：First motor is braked, and ring gear electromagnetic clutch is closed, and first planet carrier and ring gear are locked；
At this point, steering wheel unit is motionless, the second motor of motor is as steering motor, too by the second planet carrier, the second planetary gear, second
Sun wheel is eventually transferred into and pinion gear and rack, completion go to action.
Further, according to diagnostic system under electric power steering, steering-by-wire and automatic Pilot Three models whether failure；
1）There is no failure：First planetary gear train, the second planetary gear train transmit motor driving moment, driving pinion, rack,
Track rod, tie rod arm, knuckle realize the steering task of automotive wheel；
2）It is faulty：It is judged as single motor failure or bi-motor failure.
When being judged as single motor failure：Disengagement failure motor power, faulty motor electromagnetic brake are closed automatically, are lockked
The planet carrier of corresponding motor control, calculates non-faulting motor drive current later, provides driving moment by non-faulting motor, protects
Demonstrate,prove the normal transmission of steering order；
When being judged as bi-motor failure：Two faulty motor power supplys are cut off simultaneously, faulty motor electromagnetic brake is closed automatically,
It locks two faulty motors and corresponds to the planet carrier of control, and detach ring gear electromagnetic clutch, be not necessarily to additional control, maximum journey
Degree ground ensures the reliability turned to.
The advantageous effect of the present invention and the prior art is：
1. apparatus of the present invention is compact-sized, it is easy to arrange：The present invention uses two-row planetary gear architecture, makes full use of this hair
The radial space reduction motor size of the-the first planetary gear train of bright input shaft, the second planetary gear train-output shaft, not in small tooth
Wheel, rack nearby increase motor decelerating mechanism, can continue to use traditional mechanical steering arrangement, therefore apparatus of the present invention
Have the advantages that space layout is simple；
2. transmission efficiency：The present invention uses planetary gear mechanism, transmission efficiency.Motor need not increase additional speed reducer
Structure directly transmits driving pinion, rack, turns to pinion gear, can also improve transmission efficiency；
3. serious forgiveness is high, have a safety feature：The present invention uses bi-motor structure, backups each other, in addition to purely mechanic steering, at other
, can be under the action of electromagnetic brake by locked main shaft when a motor failure under Three models, while VCU detects motor
Failure enables another motor to serve as power source, ensures the normal transmission of steering order；When two motors fail simultaneously, this
Invention is not necessarily to additional control automatically into purely mechanic steering pattern, farthest ensures the reliability turned to；
4. stabilization of running at high speed：It can ensure steering-by-wire mistake by the precise displacement of control pinion gear using the method for the present invention
Journey it is steady, and when galloping, can be provided by the second motor reversal and turn to damping force, improve the stabilization of motor turning
Property.
Description of the drawings
Fig. 1 is a kind of principle schematic of multi-mode steer by wire apparatus of the present invention；
Fig. 2 is a kind of flow chart of multi-mode steer by wire apparatus control method of the present invention；
Fig. 3 be the present invention a kind of multi-mode steer by wire apparatus in each mode power transmission path figure；
Wherein, 1- steering wheels unit, 2- steering wheel sensors, the first sun gears of 3-, 4- first planet carriers, the first planetary gears of 5-,
6- ring gears, 7- ring gear electromagnetic clutch, the second planetary gears of 8-, the second planet carriers of 9-, the second sun gears of 10-, the second electricity of 11-
Machine, 12- first motors, 13- first motor controllers, the second electric machine controllers of 14-, 15- entire car controllers, 16- pinion gears,
17- racks, 18- track rods, 19- tie rod arms, 20- knuckles, 21- input shafts, 22- output shafts, 23- wheels.
Specific implementation mode
It is clear to keep the purpose of the present invention, technical solution and effect clearer, referring to the drawings and give an actual example to this
Invention is further described.It should be understood that specific implementation described herein is not used to limit only to explain the present invention
The present invention.
The multi-mode steer by wire apparatus of the present invention includes steering wheel unit 1, steering wheel unit 1 by output shaft 22 and turns
To 1 sequentially connected steering wheel sensor 2 of disk unit, the first planetary gear train, the second planetary gear train, pinion gear 16.Small tooth
Wheel 16 is connect with rack 17, in 17 both sides of rack successively symmetrically arranged track rod 18, tie rod arm 19, knuckle 20；It is logical
The knuckle 20 for crossing both sides connects left and right wheels 23.
First planetary gear train includes the first sun gear 3, first planet carrier 4, the first planetary gear 5, ring gear 6；Second row
Star gear train includes the second planetary gear 8, the second sun gear 10, the second planet carrier 9, ring gear 6；First planet carrier 4 is connected with
One motor 12；Second planet carrier 8 is connected with the second motor 11.First planetary gear train, the second planetary gear train pass through ring gear 6
Series connection, specific connection relation are：The first sun gear 3 for being connect with input shaft 22, first planet carrier 4, the first planetary gear 5,
Ring gear 6, the second planetary gear 8, the second planet carrier 9, the second sun gear 10.
Input shaft 21 and the first sun gear 3 are rigidly connected, and are connect by bearing with first planet carrier 4；Output shaft 22 and
Two sun gears 10 are rigidly connected, and are connect by bearing with the second planet carrier 8.
First planetary gear train and the second planetary gear train are attached by sharing a ring gear, specifically, internal tooth
Circle 6 is engaged with the first planetary gear 5 and the second planetary gear 8 simultaneously so that can be between the first planetary gear train and the second planetary gear train
Mutually transmit corner and torque.First motor 12, the second motor 11, carry electromagnetic brake, can active control or by
The situation of dynamic circuit breaker electricity, automatic locking electric machine main shaft.Ring gear electromagnetic clutch 7 is operated in normally closed pattern, and ring gear 6 is embraced at this time
Extremely, it is not possible to be freely rotated.Only in active control or passive the case where powering off, since spring force acts on, clutch point
From ring gear 6 can be freely rotated.
By the actuation for controlling the brake switch and ring gear electromagnetic clutch 7 of first motor 12, the second motor 11 respectively
Switch switches four kinds of different operating modes, and the ring gear electromagnetic clutch 7 is operated in normally closed pattern, at this time 6 quilt of ring gear
Locking, it is not possible to be freely rotated.Only in active control or passive the case where powering off, since spring force acts on, clutch
Separation, ring gear 6 can be freely rotated.
As shown in Fig. 2, being turned round by the equal acquisition steering wheel angle of steering wheel sensor 2, steering wheel by entire car controller 15
The signals such as square, speed, yaw velocity, pinion gear corner, judge working model later, are specifically divided into four kinds of different Working moulds
Type, four kinds of respectively purely mechanic steering, electric power steering, steering-by-wire and automatic Pilot patterns.In normal driving process,
The present invention operates mainly under steering-by-wire pattern.When steering-by-wire pattern failure, such as the second 11 failure of motor, vehicle
Controller 15 detects fault-signal, actively disconnects the power supply to the second motor 11, makes its braking, and electric machine main shaft is by locking, the
Two planet carriers 9 are locked.The control strategy of first motor 12 is changed simultaneously, motor is switched to steering by road feel feedback working mode and helps
Force mode, and ring gear electromagnetic clutch 7 is detached, system is by steering-by-wire pattern switching to electric power steering pattern, to protect
The normal of turning function is held, is overhauled after waiting for vehicle safety.
When receiving the automatic Pilot instruction that driver sends out, system automatically operates under automatic driving mode, at this time
Steering wheel unit 1 is in free state and steering wheel input will not turn to system and have any impact.When motor sends failure
When, VCU15 detects fault-signal and is judged as single motor failure or bi-motor failure.If single motor failure, then system is cut
It is changed to electric boosted pattern；If bi-motor failure, then system is switched to purely mechanic steering pattern, ensures the turning function of vehicle
Normally.
As shown in Fig. 2 ~ Fig. 3, four kinds of different working models are described in detail as follows：
Purely mechanic steering pattern：The first motor 12, the second motor 11 are braked, 9 quilt of first planet carrier 4 and the second planet carrier
It is locked, the first planetary gear 5 and the second planetary gear 8 can only rotation can not revolve round the sun.Power is inputted from steering wheel unit 1, by first
Sun gear 3, the first planetary gear 5, ring gear 6, the second planetary gear 8, the second sun gear 10, output shaft 12, are transmitted to and pinion gear
16 and rack 17.
Electric power steering pattern：First motor 12 is braked, and first planet carrier 4 is locked, and the first planetary gear 5 can only be certainly
Turn.Ring gear electromagnetic clutch 7 detaches, and ring gear 6 is free to rotate.There are two power sources, one be driver's hand-power, from turn
To disk unit 1 input, by, the first sun gear 3, the first planetary gear 5, ring gear 6；Secondly being the second motor 11, by second
Power coupling after planet carrier 9, the second planetary gear 8 with ring gear 6, collective effect in the second sun gear 10, be eventually transferred into
Pinion gear 16 and rack 17.Under electric power steering pattern, diagnostic system whether failure and be single motor failure or double electricity
Machine failure, specifically：
When the second 11 failure of motor, VCU15 detects fault-signal, actively disconnects the power supply to the second motor 11, makes its system
Dynamic, for electric machine main shaft by locking, the second planet carrier 9 is locked.The control strategy for changing simultaneously motor first motor 12, makes it be switched to
Power steering pattern is overhauled with keeping the normal of turning function after waiting for vehicle safety；
When first motor 12 and the second 11 simultaneous faults of motor, VCU15 detects fault-signal, while actively disconnecting to first
The power supply of motor 12 and the second motor 11 makes its braking, electric machine main shaft be locked by locking, first planet carrier 4 and the second planet carrier 9
Extremely, system is switched to purely mechanic steering pattern.
Steering-by-wire pattern：Ring gear electromagnetic clutch 7 is closed, and ring gear 6 is locked.At this point, 12 conduct of first motor
Road feel motor by first planet carrier 4, the first planetary gear 5, the first sun gear 3 and is that steering wheel 1 provides road feel feedback；Second
Motor 11 is eventually transferred into and small tooth as steering motor by the second planet carrier 9, the second planetary gear 8, the second sun gear 10
Wheel 16 and rack 17 drive track rod 18, tie rod arm 19, knuckle 20 to complete go to action to wheel 23.Steering-by-wire
Under pattern, diagnostic system whether failure and be single motor failure or bi-motor failure, specifically：
When the second 11 failure of motor, VCU15 detects fault-signal, actively disconnects the power supply to the second motor 11, makes its system
Dynamic, for electric machine main shaft by locking, the second planet carrier 9 is locked.The control strategy for changing simultaneously first motor 12, by road feel feedback operation
Pattern switching detaches ring gear electromagnetic clutch 7 to power steering pattern, and system is helped by steering-by-wire pattern switching to electronic
Power steering pattern is overhauled with keeping the normal of turning function after waiting for vehicle safety.
When first motor 12 and the second 11 simultaneous faults of motor, VCU detects fault-signal, simultaneously switches off and actively disconnects
Power supply to first motor 12 and the second motor 11 makes its braking, and electric machine main shaft is by locking, first planet carrier 4 and the second planet
Frame 9 is locked, and system is switched to purely mechanic steering pattern.
Automatic driving mode：First motor 12 is braked, and ring gear electromagnetic clutch 7 is closed, first planet carrier 4 and ring gear
6 are locked.At this point, steering wheel 1 is motionless, the second motor 11 is used as steering motor, by the second planet carrier 9, the second planetary gear 8,
Second sun gear 10, be eventually transferred into pinion gear 16 and rack 17, drive track rod 18, tie rod arm 19, knuckle 20,
Go to action is completed to wheel 23.Under automatic driving mode, diagnostic system whether failure and be single motor failure or double electricity
Machine failure, specifically：
When the second 11 failure of motor, VCU detects fault-signal, actively disconnects the power supply to the second motor 11, makes its braking,
For electric machine main shaft by locking, the second planet carrier 9 is locked.The control strategy for changing simultaneously first motor 12, by road feel feedback operation mould
Formula is switched to power steering pattern, and detaches ring gear electromagnetic clutch 7, and system is by steering-by-wire pattern switching to electric boosted
Steering pattern is overhauled with keeping the normal of turning function after waiting for vehicle safety.
When first motor 12 and the second 11 simultaneous faults of motor, VCU15 detects fault-signal, simultaneously switches off actively disconnected
The power supply to first motor 12 and the second motor 11 is opened, makes its braking, electric machine main shaft is by locking, first planet carrier 4 and the second row
Carrier 9 is locked, and system is switched to purely mechanic steering pattern.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or too formal.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (8)
1. a kind of multi-mode steer by wire apparatus, which is characterized in that the device includes rack（17）, the rack（17）
On be provided with pinion gear（16）；
The pinion gear（16）Top is provided with input shaft（21）, output shaft（22）；
Input shaft（21）, output shaft（22）Between be sequentially inserted into the first planetary gear train, the second planetary gear train；Described first
Planetary gear train passes through first motor（12）Driving；Second planetary gear train passes through the second motor（11）Driving；
Described passes through input shaft above the first planetary gear train（21）Also it is connected with steering wheel sensor in turn（2）, turn
To disk unit（1）；
First planetary gear train includes the first sun gear（3）, first planet carrier（4）, the first planetary gear（5）, ring gear
（6）；Second planetary gear train includes the second planetary gear（8）, the second sun gear（10）, the second planet carrier（9）, ring gear
（6）；
The ring gear（6）Simultaneously with the first planetary gear（5）With the second planetary gear（8）Engagement；
The ring gear（6）Also set up ring gear electromagnetic clutch outside（7）, the ring gear electromagnetic clutch（7）Signal
It is connected to entire car controller（15）；
The first motor（12）, the second motor（11）Pass through first motor controller respectively（13）, the second electric machine controller
（14）Signal is connected to entire car controller（15）.
2. a kind of multi-mode steer by wire apparatus according to claim 1, which is characterized in that the rack（17）Both sides
Symmetrically arranged track rod successively（18）, tie rod arm（19）, knuckle（20）；Pass through the knuckle of both sides（20）It will left and right
Wheel（23）Connection.
3. a kind of multi-mode steer by wire apparatus according to claim 1, which is characterized in that the input shaft（21）With
First sun gear（3）Rigid connection, with first planet carrier（4）It is connected by bearing；Output shaft（22）With the second sun gear（10）
Rigid connection, with the second planet carrier（8）It is connected by bearing.
4. a kind of multi-mode steer by wire apparatus according to claim 3, which is characterized in that the first planet carrier
（4）With first motor（12）Connection；Second planet carrier（8）With the second motor（11）Connection.
5. a kind of multi-mode steer by wire apparatus according to claim 1, which is characterized in that the steering wheel sensor
（2）Information is transmitted to entire car controller（15）.
6. a kind of multi-mode steer by wire apparatus according to claim 1, which is characterized in that the first motor（12）
With the second motor（11）Carry electromagnetic brake.
7. according to a kind of control method of any multi-mode steer by wire apparatus of claim 1 ~ 6, which is characterized in that logical
It crosses and controls first motor respectively（12）, the second motor（11）Brake switch and ring gear electromagnetic clutch（7）Actuation switch,
Four kinds of purely mechanic steering, electric power steering, steering-by-wire and automatic Pilot different control models are switched to, it is specific as follows：
Purely mechanic steering pattern：The first motor（12）, the second motor（11）It brakes, first planet carrier（4）With the second row
Carrier（9）It is locked, the first planetary gear（5）With the second planetary gear（8）Can only rotation can not revolve round the sun；Power is from steering wheel unit
（1）Input, by the first sun gear（3）, the first planetary gear（5）, ring gear（6）, the second planetary gear（8）, the second sun gear
（10）, output shaft（22）, it is transmitted to and pinion gear（16）And rack（17）；
Electric power steering pattern：The first motor（12）Braking, first planet carrier（4）It is locked, the first planetary gear（5）Only
It can rotation；Ring gear electromagnetic clutch（7）Separation, ring gear（6）It is free to rotate；There are two power sources, and one is from steering wheel
Unit（1）Input, by the first sun gear（3）, the first planetary gear（5）, ring gear（6）；Secondly being the second motor（11）Input,
By the second planet carrier（9）, the second planetary gear（8）Afterwards with ring gear（6）Power coupling, collective effect is in the second sun gear
（10）, it is eventually transferred into and pinion gear（16）And rack（17）；
Steering-by-wire pattern：Ring gear electromagnetic clutch（7）It is closed, ring gear（6）It is locked；At this point, first motor（12）Make
For road feel motor, pass through first planet carrier（4）, the first planetary gear（5）, the first sun gear（3）For steering wheel unit（1）Road is provided
Sense feedback；Second motor（11）As steering motor, pass through the second planet carrier（9）, the second planetary gear（8）, the second sun gear
（10）, it is eventually transferred into pinion gear（16）And rack（17）, complete go to action；
Automatic driving mode：First motor（12）Braking, ring gear electromagnetic clutch（7）It is closed, first planet carrier（4）And internal tooth
Circle（6）It is locked；At this point, steering wheel unit（1）It is motionless, the second motor of motor（11）As steering motor, pass through the second planet
Frame（9）, the second planetary gear（8）, the second sun gear（10）, it is eventually transferred into and pinion gear（16）And rack（17）, complete to turn to
Action.
8. a kind of control method of multi-mode steer by wire apparatus according to claim 7, which is characterized in that according to electronic
Under power-assisted steering, steering-by-wire and automatic Pilot Three models diagnostic system whether failure；
1）There is no failure：First planetary gear train, the second planetary gear train transmit motor driving moment, driving pinion（16）,
Rack（17）, realize steering task；
2）It is faulty：And it is judged as single motor failure or bi-motor failure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810749994.5A CN108749916B (en) | 2018-07-10 | 2018-07-10 | Multi-mode steer-by-wire device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810749994.5A CN108749916B (en) | 2018-07-10 | 2018-07-10 | Multi-mode steer-by-wire device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108749916A true CN108749916A (en) | 2018-11-06 |
| CN108749916B CN108749916B (en) | 2023-09-29 |
Family
ID=63973145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810749994.5A Active CN108749916B (en) | 2018-07-10 | 2018-07-10 | Multi-mode steer-by-wire device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108749916B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606457A (en) * | 2018-11-30 | 2019-04-12 | 江苏大学 | A kind of steering column tube and steering system and vehicle |
| CN109733469A (en) * | 2019-01-28 | 2019-05-10 | 北京华田汽车科技有限公司 | The automatically controlled steering system of multi power source actuation |
| CN109733465A (en) * | 2018-12-19 | 2019-05-10 | 江苏大学 | A kind of steering system fault tolerance facility and method and vehicle |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN111284333A (en) * | 2020-02-11 | 2020-06-16 | 江苏大学 | Automatic driving vehicle and high-efficiency double-motor driving steering coupling system and control method thereof |
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| CN113125159A (en) * | 2020-01-10 | 2021-07-16 | 中车时代电动汽车股份有限公司 | Mechanical source failure detection method and system in electromechanical double sources |
| CN113788067A (en) * | 2021-11-16 | 2021-12-14 | 天津所托瑞安汽车科技有限公司 | Dual power steering system and method |
| US20220144295A1 (en) * | 2020-11-11 | 2022-05-12 | Hyundai Motor Company | Method for controlling switching of steering control rights of autonomous vehicle |
| CN114802423A (en) * | 2022-04-29 | 2022-07-29 | 吉林大学 | Drive-by-wire steering road feel simulation system with mechanical redundancy |
| US20220266692A1 (en) * | 2021-02-24 | 2022-08-25 | Hyundai Motor Company | Apparatus and method for diagnosing damage to drive-train hardware of vehicle |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3717236A1 (en) * | 1987-05-22 | 1988-12-08 | Teves Gmbh Alfred | Pressure modulator for a hydraulic brake system with anti-lock protection |
| DE102005005429A1 (en) * | 2005-02-05 | 2006-08-10 | Daimlerchrysler Ag | Steering device for motor vehicle has an overlay transmission with first and second setting shafts |
| CN201651189U (en) * | 2010-01-29 | 2010-11-24 | 比亚迪股份有限公司 | Gear transmission mechanism and hybrid power driving system comprising same |
| CN201777114U (en) * | 2010-07-30 | 2011-03-30 | 比亚迪股份有限公司 | Hybrid driving system and vehicle containing same |
| CN102862599A (en) * | 2012-09-07 | 2013-01-09 | 河南科技大学 | Electric power-assisted steering system |
| CN104763804A (en) * | 2015-04-22 | 2015-07-08 | 福建工程学院 | Centralized drive type pure electric vehicle power system |
| CN205706166U (en) * | 2016-06-13 | 2016-11-23 | 科力远混合动力技术有限公司 | The pure electric transmission machanism of the many gears of double planet |
| CN106515843A (en) * | 2016-11-10 | 2017-03-22 | 北京理工大学 | Mixed type steering-by-wire system |
| CN106965662A (en) * | 2017-04-21 | 2017-07-21 | 吉林大学 | A kind of bi-motor coupling driving bridge with torque fixed direction allocation function |
| CN108248366A (en) * | 2016-12-27 | 2018-07-06 | 江苏万马传动科技有限公司 | A kind of multi-mode hybrid transmission system |
| CN208682909U (en) * | 2018-07-10 | 2019-04-02 | 南京航空航天大学 | A kind of multi-mode steer by wire apparatus |
-
2018
- 2018-07-10 CN CN201810749994.5A patent/CN108749916B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3717236A1 (en) * | 1987-05-22 | 1988-12-08 | Teves Gmbh Alfred | Pressure modulator for a hydraulic brake system with anti-lock protection |
| DE102005005429A1 (en) * | 2005-02-05 | 2006-08-10 | Daimlerchrysler Ag | Steering device for motor vehicle has an overlay transmission with first and second setting shafts |
| CN201651189U (en) * | 2010-01-29 | 2010-11-24 | 比亚迪股份有限公司 | Gear transmission mechanism and hybrid power driving system comprising same |
| CN201777114U (en) * | 2010-07-30 | 2011-03-30 | 比亚迪股份有限公司 | Hybrid driving system and vehicle containing same |
| CN102862599A (en) * | 2012-09-07 | 2013-01-09 | 河南科技大学 | Electric power-assisted steering system |
| CN104763804A (en) * | 2015-04-22 | 2015-07-08 | 福建工程学院 | Centralized drive type pure electric vehicle power system |
| CN205706166U (en) * | 2016-06-13 | 2016-11-23 | 科力远混合动力技术有限公司 | The pure electric transmission machanism of the many gears of double planet |
| CN106515843A (en) * | 2016-11-10 | 2017-03-22 | 北京理工大学 | Mixed type steering-by-wire system |
| CN108248366A (en) * | 2016-12-27 | 2018-07-06 | 江苏万马传动科技有限公司 | A kind of multi-mode hybrid transmission system |
| CN106965662A (en) * | 2017-04-21 | 2017-07-21 | 吉林大学 | A kind of bi-motor coupling driving bridge with torque fixed direction allocation function |
| CN208682909U (en) * | 2018-07-10 | 2019-04-02 | 南京航空航天大学 | A kind of multi-mode steer by wire apparatus |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606457A (en) * | 2018-11-30 | 2019-04-12 | 江苏大学 | A kind of steering column tube and steering system and vehicle |
| CN109606457B (en) * | 2018-11-30 | 2021-04-20 | 江苏大学 | Steering column pipe, steering system and vehicle |
| CN109733465A (en) * | 2018-12-19 | 2019-05-10 | 江苏大学 | A kind of steering system fault tolerance facility and method and vehicle |
| CN109733465B (en) * | 2018-12-19 | 2021-07-20 | 江苏大学 | Fault-tolerant device and method for steering system and vehicle |
| CN109733469A (en) * | 2019-01-28 | 2019-05-10 | 北京华田汽车科技有限公司 | The automatically controlled steering system of multi power source actuation |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN110712677B (en) * | 2019-11-29 | 2024-02-27 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN113125159B (en) * | 2020-01-10 | 2022-07-22 | 中车时代电动汽车股份有限公司 | Mechanical source failure detection method and system in electromechanical double sources |
| CN113125159A (en) * | 2020-01-10 | 2021-07-16 | 中车时代电动汽车股份有限公司 | Mechanical source failure detection method and system in electromechanical double sources |
| CN111284333A (en) * | 2020-02-11 | 2020-06-16 | 江苏大学 | Automatic driving vehicle and high-efficiency double-motor driving steering coupling system and control method thereof |
| CN111845923A (en) * | 2020-07-31 | 2020-10-30 | 湖北汽车工业学院 | Steer-by-wire system applied to unmanned vehicle and control method |
| US20220144295A1 (en) * | 2020-11-11 | 2022-05-12 | Hyundai Motor Company | Method for controlling switching of steering control rights of autonomous vehicle |
| US11713050B2 (en) * | 2020-11-11 | 2023-08-01 | Hyundai Motor Company | Method for controlling switching of steering control rights of autonomous vehicle |
| US20220266692A1 (en) * | 2021-02-24 | 2022-08-25 | Hyundai Motor Company | Apparatus and method for diagnosing damage to drive-train hardware of vehicle |
| US11642963B2 (en) * | 2021-02-24 | 2023-05-09 | Hyundai Motor Company | Apparatus and method for diagnosing damage to drive-train hardware of vehicle |
| CN113788067A (en) * | 2021-11-16 | 2021-12-14 | 天津所托瑞安汽车科技有限公司 | Dual power steering system and method |
| CN114802423A (en) * | 2022-04-29 | 2022-07-29 | 吉林大学 | Drive-by-wire steering road feel simulation system with mechanical redundancy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108749916B (en) | 2023-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108749916A (en) | A kind of multi-mode steer by wire apparatus and its control method | |
| CN106184350B (en) | A kind of four-wheel steering system and steering pattern control method of multi-mode | |
| CN111152835B (en) | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method | |
| CN106515843B (en) | A kind of mixed type wire-controlled steering system | |
| CN107792168A (en) | Sleeve motor steer-by-wire device and control method | |
| CN108639146B (en) | Intelligent auxiliary steering system and control method thereof | |
| CN101229819B (en) | Wire-controlled steering system for automobiles | |
| CN107010105B (en) | Wire-control steering and independent driving integrated wheel-side electric driving device | |
| CN103101451B (en) | Double wheel hub motor electronic differential and speed governing Centralized Controller | |
| CN109850008A (en) | A kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control method | |
| CN109466621A (en) | Three motor wire-controlled steering systems of one kind and its control method | |
| CN208682909U (en) | A kind of multi-mode steer by wire apparatus | |
| CN207523780U (en) | A kind of automobile steering-by-wire executing agency and auto steerer | |
| CN103754256A (en) | Steering-mode adjustable electric automobile steering system and control method | |
| CN103303361A (en) | Electric power steering apparatus for vehicle | |
| CN105636855B (en) | Vehicle | |
| CN104760612A (en) | Double-motor electric power-assisted steering system and power-assisted steering method thereof | |
| CN106697040B (en) | Dual-motor coupling electric power steering device and control method thereof | |
| CN114524019A (en) | Double-winding double-motor steer-by-wire system of commercial vehicle and control method thereof | |
| CN112918548A (en) | Magnetorheological damping road feel stepless speed change steer-by-wire device and method | |
| CN110667693A (en) | Automatic drive-by-wire steering system of automobile | |
| CN212125282U (en) | Unmanned vehicle steering device with multiple steering modes | |
| CN114834524B (en) | Multi-mode dual-redundancy active steering system assembly and control method | |
| CN104709342B (en) | Double-motor electric power-assisted steering system and power-assisted steering method thereof | |
| CN210364033U (en) | Automobile steer-by-wire system based on six-phase fault-tolerant motor |
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 |