CN109774785A - A kind of pinion and-rack electric hydraulic steering system and optimization method based on magnetorheological fluid - Google Patents
A kind of pinion and-rack electric hydraulic steering system and optimization method based on magnetorheological fluid Download PDFInfo
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Abstract
The invention discloses a kind of pinion and-rack electric hydraulic steering system and optimization method based on magnetorheological fluid, system includes: machine driving module, magnetorheological fluid power-assisted module, electric boosted module, Power assisted control module；The following steps are included: (1) establishes pinion and-rack electric hydraulic steering system model, whole vehicle model and tire model, (2) select system optimization target, derive judgement schematics the optimization method；(3) it selects to influence big parameter to steering behaviour for optimized variable, (4) establish system Model for Multi-Objective Optimization under the constraint condition of steering sensitivity and optimized variable value range；(5) it is optimized using the multi-objective Evolutionary Algorithm based on reference point.The present invention is in the way of motor and two kinds of power-assisteds of magnetorheological fluid, and steering response speed is fast, and power steering range is big, consuming little energy, and solves the problems, such as to conflict with each other between steering response, steering energy consumption and the multiple optimization aims of power steering.
Description
Technical field
The invention belongs to automobile steering system technical fields, and in particular to a kind of pinion and-rack electricity based on magnetorheological fluid
Liquid steering system and its Multipurpose Optimal Method.
Background technique
With the development of servo steering system, the performance of automobile steering system lighting, energy-saving, in terms of
Have and is greatly improved.The current most common servo steering system mainly includes hydraulic power-assist steering system and electric power steering system
System.Wherein, hydraulic power-assist steering system output torque is big, stable operation, but energy consumption is larger, and maintenance is inconvenient；Electric boosted turn
Auxiliary power can be adjusted according to real-time working condition to system, and quality is small, saves installation space, but its output torque is relatively small,
It is difficult meet the needs of oversize vehicle power-assisted.It is limited to hydraulic system and the intrinsic characteristic of electrical system, either hydraulic booster
Steering system or electric boosting steering system are all difficult to that the optimization of steering behaviour is implemented separately, using electro-hydraulic power-assisted steering
System can then combine the two advantage.
Magnetorheological fluid is widely applied as a kind of brand-new material in many fields, is presented under zero magnetic field condition
The Newtonian fluid characteristic of low viscosity out, and it is special that high viscosity, the Bingham body of low-flow are then showed under strong magnetic field action
Property, and change procedure is instantaneous, and has the characteristics that low energy consumption simultaneously, has obtained some applications in automobile steering system.Example
If Chinese Patent Application No. is CN201410557874.7, a kind of title " pinion and-rack magnetic fluid electric-controlled hydraulic power-assisted steering
Using magnetorheological fluid as hydraulic booster in device and control method ", but it is power source due to relying solely on Lorentz force, can mentions
The power-assisted of confession is limited and cannot reach ideal effect, can not substitute hydraulic power-assist steering system completely；Chinese Patent Application No. is
CN201720488038.7, title " vehicle semi- active control steering system MR damper ", utilizes magnetorheological fluid characteristic
Motor turning stability is improved, but what is mainly utilized is its damping characteristic rather than provides power-assisted.Therefore, it designs a kind of using magnetic current
Become the energy that liquid carries out power-assisted and consumes with the electric boosted electro-hydraulic servo steering system of the automobile combined, saving steering procedure,
Accelerate response speed, obtain better steering characteristic, there is further investigation value.
Electric hydraulic steering system is related to multiple modules and cooperates, and structure is complicated, needs machinery, fluid, electronics etc. more
Section's synergistic effect.It is directed to numerous performance parameter indexs simultaneously, rationally the Parameters Optimal Design of science plays system performance
To key effect.Therefore, Optimized model is accurately established, using suitable optimization algorithm to the good comprehensive of acquisition electric hydraulic steering system
Closing performance has considerable effect.
Summary of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of gear teeth based on magnetorheological fluid
Formula electric hydraulic steering system and optimization method, so as to overcome the problems existing in the prior art.The present invention is substituted using magnetorheological fluid
Original hydraulic oil provides power-assisted, enormously simplifies the hydraulic structure of rack and pinion steering gear, by control electric boosted module and
The cooperation of magnetorheological fluid power-assisted module, and a kind of Multipurpose Optimal Method optimization key parameter is provided so that automobile obtain compared with
System capacity loss is reduced while the steering response got well, and obtains good comprehensive steering behaviour.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
A kind of pinion and-rack electric hydraulic steering system based on magnetorheological fluid of the invention, comprising: machine driving module, magnetic
Rheology liquid power-assisted module, electric boosted module, Power assisted control module；
The machine driving module includes steering wheel, rotary angle transmitter, torque sensor, steering shaft, pinion and-rack
Diverter, drag link, left side steering trapezium, right hand steering be trapezoidal, left side wheel and right side wheels；The upper end and direction of steering shaft
Disk is connected, installing angle sensor on steering wheel；The lower end of steering shaft and the input terminal of rack and pinion steering gear connect, steering shaft
Lower end is equipped with torque sensor；Rack and pinion steering gear includes tooth sector, radial ball bearing, steering rack, spring, pressure
Block, adjusting nut, steering gear housing；Tooth sector is supported in steering gear housing body by radial ball bearing, tooth sector it is upper
End is meshed with axis connection, lower end is turned to horizontally disposed steering rack, forms a pair of of transmission；Spring will be turned by briquetting
It is pressed against on tooth sector to rack gear, makes steering rack and tooth sector tight mesh；Adjusting nut passes through steering gear housing
It is connected with spring, initial tension of spring is provided；Steering rack both ends connect drag link, drag link right end by right hand steering it is trapezoidal with
Right side wheels connection, drag link left end connect left side steering trapezium and left side wheel by magnetorheological fluid power-assisted module；
The magnetorheological fluid power-assisted module includes magnetorheological fluid shell, upper metal plate, lower metal plate, left taper roller axis
It holds, right tapered roller bearing, left stressed plate, right stressed plate, input shaft, output shaft, magnetorheological fluid materials, magnet exciting coil, power supply
Unit；
The drag link is interrupted by magnetorheological fluid power-assisted module to be divided into left and right ends and interrupts place, and place is interrupted in the left end of drag link
It is connected with exporting axis, the right end of drag link interrupts place and input axis connection；Input shaft is supported on magnetic by right tapered roller bearing
On rheology liquid shell, it is connect by right stressed plate with lower metal plate；Output shaft is supported on magnetorheological by left tapered roller bearing
On liquid shell, it is connected by left stressed plate with upper metal plate；Magnetorheological fluid shell encloses the upper and lower metal being arranged in a staggered manner up and down
Plate and input shaft, output shaft；Magnetorheological fluid interior of shell is full of magnetorheological fluid materials；Magnetorheological fluid shell exterior horizontal wrap is encouraged
Magnetic coil, power supply unit and magnet exciting coil are electrically connected, and magnet exciting coil generates variable magnetic field, magnetorheological fluid when power supply unit is powered
Material changes under the action characteristic in magnetic field, generates shearing force on upper and lower metal plate, is converted into left and right stressed plate
Power output, and by output shaft and input axial drag link transmitting, the power steering that output magnetorheological fluid power-assisted module provides；
The electric boosted module includes motor, clutch, deceleration mechanism；Motor is fixed on steering shaft side,
And by deceleration mechanism and axis connection is turned to, clutch is equipped between deceleration mechanism and motor；
The Power assisted control module input is connected with torque sensor, rotary angle transmitter and vehicle speed sensor respectively,
Receive steering wheel angle signal, the dtc signal, speed signal of driver's input, output end and motor, clutch, power supply
Unit is connected, and controls signal by output magnetorheological fluid and changes the electric current that power supply unit provides, output motor controls signal control
The electromagnetic torque that motor provides, output clutch control the working condition of signal adjustment clutch.
A kind of Multipurpose Optimal Method of pinion and-rack electric hydraulic steering system based on magnetorheological fluid of the invention, is based on
Above system comprises the following steps that
(1) pinion and-rack electric hydraulic steering system model, whole vehicle model and tire model are established；
(2) pinion and-rack electric hydraulic steering system optimization aim, and the model established according to step (1), derivation pair are selected
Answer the judgement schematics of optimization aim；
(3) based on the system optimization target of step (2) selection, performance evaluation is carried out；According to results of performance analysis, choosing
It is optimized variable that selecting, which influences big mechanical parameter and magnetorheological fluid parameter to steering behaviour,；
(4) under the constraint condition of steering sensitivity and optimized variable value range, the electro-hydraulic steering of pinion and-rack is established
System Model for Multi-Objective Optimization；
(5) according to pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization, using the multiple target based on reference point into
Change algorithm, carries out multi-target parameter optimizing.
Further, the pinion and-rack electric hydraulic steering system model includes: steering wheel-steering shaft model, gear teeth
Diverter model, magnetorheological fluid power-assisted modular model and electric boosted modular model.
Further, the pinion and-rack electric hydraulic steering system model in the step (1) are as follows:
In formula: JsFor rotary inertia of steering wheel, θsCorner is inputted for driver；TdriFor driver's input torque, BsTo turn
To axis damped coefficient, ksFor rotation direction sensor rigidity, θeFor tooth sector corner, JdsIt is used for the rotation of steering shaft and deceleration mechanism
Amount, BdsFor deceleration mechanism damped coefficient, G is deceleration mechanism reduction ratio, TepsFor motor power torque, TsenFor torque sensor
Output torque, TwFor rack-and-pinion active force, Jm1For motor rotation inertia, θm1For motor corner, Bm1For motor damping
Coefficient, Tem1For assist motor electromagnetic torque, mrFor rack mass, xrFor steering rack displacement, BrFor steering rack damped coefficient,
rpFor tooth sector radius, FhydFor the power-assisted that magnetorheological fluid power-assisted module provides, FzFor the resistance on steering rack；
Whole vehicle model are as follows:
Tire model are as follows:
In formula, IzIt is car mass to the rotary inertia of z-axis, ωrFor yaw velocity, φ is vehicle roll angle, Nr、Nβ、
Nφ、NδIt is respectively unit yaw velocity, unit side slip angle, unit roll velocity, unit front wheel angle to the power of z-axis
Square, u are longitudinal velocity, and m is complete vehicle quality, IxIt is sprung mass to the rotary inertia of x-axis, β is side slip angle, and α is front-wheel
Side drift angle, δ are front wheel steering angle, IxzIt is sprung mass to the product of inertia of x, z-axis, d is wheelspan, GPFor steering shaft to front wheel drive
Than h is the distance for hanging mass center to roll axis, Lp、LφIt is respectively unit roll velocity, unit angle of heel to the outer of x-axis
Torque, Yr、Yβ、Yφ、YδIt is respectively that unit yaw velocity, unit vehicle side drift angle, unit angle of heel, unit front wheel angle draw
The ground cornering force risen, k1For front-wheel cornering stiffness, E1For the radian factor.
Further, the optimization aim in the step (2) includes: steering response, power steering, turns to energy consumption；Wherein,
Steering response formula are as follows:
Power steering formula are as follows:
Fforce=Tw/rp+FMRF
Turn to energy consumption formula are as follows:
Fenergy=Em+EMRF+Emotor+Eecu
In formula, EmIndicate machine driving module energy consumption, EMRFIndicate magnetorheological fluid power-assisted module energy consumption, EmotorIndicate electronic
Function consumption, EecuIndicate ECU energy consumption.
Further, the optimized variable in the step (3) includes: motor rotation inertia Jm1, torque sensor rigidity
KS, metal plate gap L, magnetorheological fluid section of shear A, magnet exciting coil the number of turns Z, deceleration mechanism reduction ratio G.
Further, the pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization in the step (4) are as follows:
In formula, FenergyIt (X) is steering energy consumption function, FroadIt (X) is steering response function, FforceIt (X) is power steering letter
Number, g1It (X) is steering sensitivity.
Further, the multi-objective Evolutionary Algorithm based on reference point in the step (5), the specific steps are as follows:
51) the initial father population P that scale is N is generated at randomt(Jm1, KS, L, A, Z, G), setting evolutionary generation counts t=1,
Population is initialized according to the initial value of electric hydraulic steering system optimized variable；
52) to parent population PtThe operation such as intersected, made a variation, being selected, generating progeny population Qt；
53) by PtWith progeny population QtIt is merged into a set, non-dominated ranking is carried out to the individual in set, by institute
There is non-dominant individual to be saved in set UtIn；
54) to set UtIt carries out non-dominated ranking and saves all non-dominant individuals, optimal objective is calculated according to formula (1)
Functional value generates candidate reference point by selection optimal objective value, is saved in set RmIn；
In formula, fm(x) for selected optimized variable to steering response, power steering, turn to energy consumption target function value,
Objective function is steering response when m=1, and objective function is power steering when m=2, and objective function is to turn to energy consumption when m=3,For optimal objective function value, εmIt is zero or arbitrarily small positive number；
55) R is calculated according to formula (2)mThe crowding distance of middle candidate reference point chooses the biggish time of top n crowding distance
Reference point is selected, is saved in final reference point set R；
In formula, idCrowding distance between individual；For value of the i+1 individual on m-th of optimization object function；
For value of the i-1 individual on m-th of optimization object function；
56) to each reference point in set R, according to formula (3) set of computations UtIn all individuals weighting Europe it is several in
Obtain distance
In formula, xiFor above-mentioned selected non-dominant individual, i=6；fm(xi) it is individual xiValue in m target；
57) the corresponding set U of the smallest weighting Euclidean distance values is found outtIn it is non-dominant individual and RmIn candidate ginseng
The non-dominant individual found out is saved in next-generation population P by examination pointt+1In, circulate operation is under obtaining individual and being used as
One godfather population Pt+1；
58) judge whether t is equal to the maximum evolutionary generation gen of setting, if t=gen, algorithm terminates to exit optimization, obtains
To electric hydraulic steering system optimal solution；Otherwise t=t+1 goes to step 52) and continues to execute optimization.
Beneficial effects of the present invention:
The present invention is combined in the way of two kinds of power-assisteds of magnetorheological fluid by motor, has not only accelerated steering response speed, but also can
Variable steering power-assisted, consuming little energy are provided according to different operating conditions.
The present invention using magnetorheological fluid replace existing hydraulic booster, do not need installation hydraulic pump, hydraulic valve, fluid pressure line,
Fluid reservoir, structure is simple and alleviates mass of system, while additional power steering is provided for electric powered steering.
The present invention optimizes electric hydraulic steering system using the multi-objective Evolutionary Algorithm based on reference point, effectively solves to turn
To road feel, the problem of conflicting with each other between energy consumption and the multiple optimization aims of power steering is turned to, it is preferable to obtain comprehensive steering behaviour
One group of disaggregation.
Detailed description of the invention
Fig. 1 is that the present invention is based on the principle assumption diagrams of the pinion and-rack electric hydraulic steering system of magnetorheological fluid；
Fig. 2 is rack and pinion steering gear structure chart of the present invention；
Fig. 3 is magnetorheological fluid power-assisted function structure chart of the present invention；
Fig. 4 is optimization method flow chart of the present invention；
Fig. 5 is the multi-objective Evolutionary Algorithm flow chart of the invention based on reference point；
In figure, 1- steering wheel；2- steering shaft；3- torque sensor；4- deceleration mechanism；5- right side wheels；6- right hand steering
It is trapezoidal；7- drag link；8- rack and pinion steering gear；9- clutch；10- motor；11- magnetorheological fluid power-assisted module；On the left of 12-
Steering trapezium；13- left side wheel；14- Power assisted control module；15- magnetorheological fluid controls signal；16- motor control signal；17-
Clutch control signal；18- radial ball bearing；19- tooth sector；20- steering rack；21- briquetting；22- spring；23- adjustment
Nut；24- steering gear housing；The left tapered roller bearing of 25-；26- output shaft；The left stressed plate of 27-；28- magnetorheological fluid shell；
The upper metal plate of 29-；30- magnetorheological fluid materials；Metal plate under 31-；32- magnet exciting coil；33 right stressed plates；34- input shaft；35-
Right tapered roller bearing；36- power supply unit.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Referring to figs. 1 to shown in Fig. 3, a kind of pinion and-rack electric hydraulic steering system based on magnetorheological fluid of the invention is wrapped
It includes: machine driving module, magnetorheological fluid power-assisted module 11, electric boosted module, Power assisted control module 14 (ECU)；
The machine driving module includes steering wheel 1, rotary angle transmitter, torque sensor 3, steering shaft 2, rack-and-pinion
Formula diverter 8, drag link 7, right hand steering be trapezoidal 6, left side steering trapezium 12, right side wheels 5 and left side wheel 13；Steering shaft 2
Upper end be connected with steering wheel 1, installing angle sensor on steering wheel 1；The lower end of steering shaft 2 and rack and pinion steering gear 8
Input terminal connection, 2 lower end of steering shaft is equipped with torque sensor 3；Rack and pinion steering gear includes tooth sector 19, radial ball
Bearing 18, steering rack 20, spring 22, briquetting 21, adjusting nut 23, steering gear housing 24；Tooth sector 19 passes through radial ball
Bearing 18 is supported in steering gear housing 24, and the upper end of tooth sector 19 is connect with steering shaft 2, lower end and horizontally disposed steering
Rack gear 20 is meshed, and forms a pair of of transmission；Steering rack 20 is pressed against on tooth sector 19 by spring 22 by briquetting 21, is made
19 tight mesh of steering rack 20 and tooth sector；Adjusting nut 23 is connected by steering gear housing 24 with spring 22, is provided
Initial tension of spring；Steering rack both ends connect drag link 7, and 7 right end of drag link is connected by right hand steering trapezoidal 6 and right side wheels 5
It connects, drag link left end connects left side steering trapezium 12 and left side wheel 13 by magnetorheological fluid power-assisted module；
The magnetorheological fluid power-assisted module includes magnetorheological fluid shell 28, upper metal plate 29, lower metal plate 31, left circular cone
Roller bearing 25, right tapered roller bearing 35, left stressed plate 27, right stressed plate 33, input shaft 34, output shaft 26, magnetorheological fluid
Material 30, magnet exciting coil 32, power supply unit 36；
The drag link 7 is interrupted by magnetorheological fluid power-assisted module to be divided into left and right ends and interrupts place, and the left end of drag link is interrupted
Place is connected with exporting axis, and the right end of drag link interrupts place and input axis connection；Input shaft is supported on by right tapered roller bearing
On magnetorheological fluid shell, it is connect by right stressed plate with lower metal plate；Output shaft is supported on magnetic current by left tapered roller bearing
Become on liquid shell, is connected by left stressed plate with upper metal plate；Magnetorheological fluid shell encloses the upper and lower gold being arranged in a staggered manner up and down
Belong to plate and input shaft, output shaft；Magnetorheological fluid interior of shell is full of magnetorheological fluid materials；Magnetorheological fluid shell exterior horizontal wrap
Magnet exciting coil, power supply unit and magnet exciting coil are electrically connected, and magnet exciting coil generates variable magnetic field when power supply unit is powered, magnetorheological
Liquid material changes under the action characteristic in magnetic field, generates shearing force on upper and lower metal plate, is converted into left and right stress
The power output of plate, and by output shaft and axial drag link transmitting is inputted, the steering that output magnetorheological fluid power-assisted module provides helps
Power；
The electric boosted module includes motor 10, clutch 9, deceleration mechanism 4；Motor 10 is fixed on steering shaft
2 sides, and connect by deceleration mechanism 4 with steering shaft 2, clutch 9 is equipped between deceleration mechanism 4 and motor 10；
The Power assisted control module input is connected with torque sensor, rotary angle transmitter and vehicle speed sensor respectively,
Receive steering wheel angle signal, the dtc signal, speed signal of driver's input, output end and motor, clutch, power supply
Unit is connected；When steering, Power assisted control module is calculated according to each sensor signal, and output motor controls signal 16, clutch
Device controls signal 17, magnetorheological fluid controls signal 15, controls motor current size, clutch switch state, power supply list respectively
Elementary current size so as to adjust the electromagnetic torque size of motor output, and passes through the electric current of power supply unit input magnet exciting coil
Corresponding magnetic field is generated between two metal plates, and magnetorheological fluid materials is made to export corresponding power steering.
Referring to shown in Fig. 4, a kind of multiple target of pinion and-rack electric hydraulic steering system based on magnetorheological fluid of the invention
Optimization method is based on above system, comprises the following steps that
(1) pinion and-rack electric hydraulic steering system model, whole vehicle model and tire model are established；
Wherein, the pinion and-rack electric hydraulic steering system model includes: steering wheel-steering shaft model, rack-and-pinion turn
To device model, magnetorheological fluid power-assisted modular model and electric boosted modular model.
Pinion and-rack electric hydraulic steering system model are as follows:
In formula: JsFor rotary inertia of steering wheel, θsCorner is inputted for driver；TdriFor driver's input torque, BsTo turn
To axis damped coefficient, ksFor rotation direction sensor rigidity, θeFor tooth sector corner, JdsIt is used for the rotation of steering shaft and deceleration mechanism
Amount, BdsFor deceleration mechanism damped coefficient, G is deceleration mechanism reduction ratio, TepsFor motor power torque, TsenFor torque sensor
Output torque, TwFor rack-and-pinion active force, Jm1For motor rotation inertia, θm1For motor corner, Bm1For motor damping
Coefficient, Tem1For assist motor electromagnetic torque, mrFor rack mass, xrFor steering rack displacement, BrFor steering rack damped coefficient,
rpFor tooth sector radius, FhydFor the power-assisted that magnetorheological fluid power-assisted module provides, FzFor the resistance on steering rack；
Whole vehicle model are as follows:
Tire model are as follows:
In formula, IzIt is car mass to the rotary inertia of z-axis, ωrFor yaw velocity, φ is vehicle roll angle, Nr、Nβ、
Nφ、NδIt is respectively unit yaw velocity, unit side slip angle, unit roll velocity, unit front wheel angle to the power of z-axis
Square, u are longitudinal velocity, and m is complete vehicle quality, IxIt is sprung mass to the rotary inertia of x-axis, β is side slip angle, and α is front-wheel
Side drift angle, δ are front wheel steering angle, IxzIt is sprung mass to the product of inertia of x, z-axis, d is wheelspan, GPFor steering shaft to front wheel drive
Than h is the distance for hanging mass center to roll axis, Lp、LφIt is respectively unit roll velocity, unit angle of heel to the outer of x-axis
Torque, Yr、Yβ、Yφ、YδIt is respectively that unit yaw velocity, unit vehicle side drift angle, unit angle of heel, unit front wheel angle draw
The ground cornering force risen, k1For front-wheel cornering stiffness, E1For the radian factor.
(2) pinion and-rack electric hydraulic steering system optimization aim, and the model established according to step (1), derivation pair are selected
Answer the judgement schematics of optimization aim；Wherein,
The optimization aim includes: steering response, power steering, turns to energy consumption；
Wherein, steering response formula are as follows:
Power steering formula are as follows:
Fforce=Tw/rp+FMRF
Turn to energy consumption formula are as follows:
Fenergy=Em+EMRF+Emotor+Eecu
In formula, EmIndicate machine driving module energy consumption, EMRFIndicate magnetorheological fluid power-assisted module energy consumption, EmotorIndicate electronic
Function consumption, EecuIndicate ECU energy consumption.
(3) based on the system optimization target of step (2) selection, performance evaluation is carried out；According to results of performance analysis, choosing
It is optimized variable that selecting, which influences big mechanical parameter and magnetorheological fluid parameter to steering behaviour,；Optimized variable includes: motor rotation
Inertia Jm1, torque sensor stiffness KS, metal plate gap L, magnetorheological fluid section of shear A, magnet exciting coil the number of turns Z, deceleration mechanism
Reduction ratio G.
(4) under the constraint condition of steering sensitivity and optimized variable value range, the electro-hydraulic steering of pinion and-rack is established
System Model for Multi-Objective Optimization；
Wherein, pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization are as follows:
In formula, FenergyIt (X) is steering energy consumption function, FroadIt (X) is steering response function, FforceIt (X) is power steering letter
Number, g1It (X) is steering sensitivity.
(5) according to pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization, using the multiple target based on reference point into
Change algorithm, carries out multi-target parameter optimizing.
Referring to Figure 5, the multi-objective Evolutionary Algorithm based on reference point, the specific steps are as follows:
51) the initial father population P that scale is N is generated at randomt(Jm1, KS, L, A, Z, G), setting evolutionary generation counts t=1,
Population is initialized according to the initial value of electric hydraulic steering system optimized variable；
52) to parent population PtThe operation such as intersected, made a variation, being selected, generating progeny population Qt；
53) by PtWith progeny population QtIt is merged into a set, non-dominated ranking is carried out to the individual in set, by institute
There is non-dominant individual to be saved in set UtIn；
54) to set UtIt carries out non-dominated ranking and saves all non-dominant individuals, optimal objective is calculated according to formula (1)
Functional value generates candidate reference point by selection optimal objective value, is saved in set RmIn；
In formula, fm(x) for selected optimized variable to steering response, power steering, turn to energy consumption target function value,
Objective function is steering response when m=1, and objective function is power steering when m=2, and objective function is to turn to energy consumption when m=3,For optimal objective function value, εmIt is zero or arbitrarily small positive number；
55) R is calculated according to formula (2)mThe crowding distance of middle candidate reference point chooses the biggish time of top n crowding distance
Reference point is selected, is saved in final reference point set R；
In formula, idCrowding distance between individual；For value of the i+1 individual on m-th of optimization object function；
For value of the i-1 individual on m-th of optimization object function；
56) to each reference point in set R, according to formula (3) set of computations UtIn all individuals weighting Europe it is several in
Obtain distance
In formula, xiFor above-mentioned selected non-dominant individual, i=6；fm(xi) it is individual xiValue in m target；
57) the corresponding set U of the smallest weighting Euclidean distance values is found outtIn it is non-dominant individual and RmIn candidate ginseng
The non-dominant individual found out is saved in next-generation population P by examination pointt+1In, circulate operation is under obtaining individual and being used as
One godfather population Pt+1；
58) judge whether t is equal to the maximum evolutionary generation gen of setting, if t=gen, algorithm terminates to exit optimization, obtains
To electric hydraulic steering system optimal solution；Otherwise t=t+1 goes to step 52) and continues to execute optimization.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of pinion and-rack electric hydraulic steering system based on magnetorheological fluid characterized by comprising machine driving module,
Magnetorheological fluid power-assisted module, electric boosted module, Power assisted control module；
The machine driving module includes steering wheel, rotary angle transmitter, torque sensor, steering shaft, rack and pinion steering
Device, drag link, left side steering trapezium, right hand steering be trapezoidal, left side wheel and right side wheels；The upper end of steering shaft and steering wheel phase
Even, installing angle sensor on steering wheel；The lower end of steering shaft and the input terminal of rack and pinion steering gear connect, steering shaft lower end
Torque sensor is installed；Rack and pinion steering gear includes tooth sector, radial ball bearing, steering rack, spring, briquetting,
Adjusting nut, steering gear housing；Tooth sector is supported in steering gear housing body by radial ball bearing, the upper end of tooth sector with
Axis connection is turned to, lower end is meshed with horizontally disposed steering rack, forms a pair of of transmission；Spring will turn to tooth by briquetting
Item is pressed against on tooth sector, makes steering rack and tooth sector tight mesh；Adjusting nut passes through steering gear housing and bullet
Spring is connected, and provides initial tension of spring；Steering rack both ends connect drag link, and drag link right end is by the way that right hand steering is trapezoidal and right side
Wheel connection, drag link left end connect left side steering trapezium and left side wheel by magnetorheological fluid power-assisted module；
The magnetorheological fluid power-assisted module include magnetorheological fluid shell, upper metal plate, lower metal plate, left tapered roller bearing,
Right tapered roller bearing, left stressed plate, right stressed plate, input shaft, output shaft, magnetorheological fluid materials, magnet exciting coil, power supply are single
Member；
The drag link is interrupted by magnetorheological fluid power-assisted module to be divided into left and right ends and interrupts place, the left end of drag link interrupt place with it is defeated
Axis connection out, the right end of drag link interrupt place and input axis connection；Input shaft is supported on magnetorheological by right tapered roller bearing
On liquid shell, it is connect by right stressed plate with lower metal plate；Output shaft is supported on outside magnetorheological fluid by left tapered roller bearing
On shell, it is connected by left stressed plate with upper metal plate；Magnetorheological fluid shell enclose the upper and lower metal plate being arranged in a staggered manner up and down and
Input shaft, output shaft；Magnetorheological fluid interior of shell is full of magnetorheological fluid materials；Magnetorheological fluid shell exterior horizontal wrap excitation wire
Circle, power supply unit and magnet exciting coil are electrically connected；
The electric boosted module includes motor, clutch, deceleration mechanism；Motor is fixed on steering shaft side, and leads to
It crosses deceleration mechanism and turns to axis connection, clutch is equipped between deceleration mechanism and motor；
The Power assisted control module input is connected with torque sensor, rotary angle transmitter and vehicle speed sensor respectively, defeated
Outlet is connected with motor, clutch, power supply unit.
2. a kind of Multipurpose Optimal Method of the pinion and-rack electric hydraulic steering system based on magnetorheological fluid, is wanted based on aforesaid right
System described in asking 1, which is characterized in that comprise the following steps that
(1) pinion and-rack electric hydraulic steering system model, whole vehicle model and tire model are established；
(2) pinion and-rack electric hydraulic steering system optimization aim, and the model established according to step (1) are selected, it is excellent to derive correspondence
Change the judgement schematics of target；
(3) based on the system optimization target of step (2) selection, performance evaluation is carried out；According to results of performance analysis, selection pair
It is optimized variable that steering behaviour, which influences big mechanical parameter and magnetorheological fluid parameter,；
(4) under the constraint condition of steering sensitivity and optimized variable value range, pinion and-rack electric hydraulic steering system is established
Model for Multi-Objective Optimization；
(5) it according to pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization, is calculated using the multi-target evolution based on reference point
Method carries out multi-target parameter optimizing.
3. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 2 based on magnetorheological fluid
Method, which is characterized in that the pinion and-rack electric hydraulic steering system model includes: steering wheel-steering shaft model, rack-and-pinion turn
To device model, magnetorheological fluid power-assisted modular model and electric boosted modular model.
4. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 3 based on magnetorheological fluid
Method, which is characterized in that the pinion and-rack electric hydraulic steering system model in the step (1) are as follows:
In formula: JsFor rotary inertia of steering wheel, θsCorner is inputted for driver；TdriFor driver's input torque, BsFor steering shaft
Damped coefficient, ksFor rotation direction sensor rigidity, θeFor tooth sector corner, JdsFor the rotary inertia of steering shaft and deceleration mechanism,
BdsFor deceleration mechanism damped coefficient, G is deceleration mechanism reduction ratio, TepsFor motor power torque, TsenIt is defeated for torque sensor
Torque out, TwFor rack-and-pinion active force, Jm1For motor rotation inertia, θm1For motor corner, Bm1It is damped for motor and is
Number, Tem1For assist motor electromagnetic torque, mrFor rack mass, xrFor steering rack displacement, BrFor steering rack damped coefficient, rp
For tooth sector radius, FhydFor the power-assisted that magnetorheological fluid power-assisted module provides, FzFor the resistance on steering rack；
Whole vehicle model are as follows:
Tire model are as follows:
In formula, IzIt is car mass to the rotary inertia of z-axis, ωrFor yaw velocity, φ is vehicle roll angle, Nr、Nβ、Nφ、Nδ
It is respectively the torque of unit yaw velocity, unit side slip angle, unit roll velocity, unit front wheel angle to z-axis, u
For longitudinal velocity, m is complete vehicle quality, IxIt is sprung mass to the rotary inertia of x-axis, β is side slip angle, and α is front-wheel lateral deviation
Angle, δ are front wheel steering angle, IxzIt is sprung mass to the product of inertia of x, z-axis, d is wheelspan, GPFor steering shaft to front wheel drive ratio, h
Distance for suspension mass center to roll axis, Lp、LφIt is respectively unit roll velocity, unit angle of heel to the moment of face of x-axis,
Yr、Yβ、Yφ、YδIt is respectively ground caused by unit yaw velocity, unit vehicle side drift angle, unit angle of heel, unit front wheel angle
Face cornering force, k1For front-wheel cornering stiffness, E1For the radian factor.
5. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 2 based on magnetorheological fluid
Method, which is characterized in that the optimization aim in the step (2) includes: steering response, power steering, turns to energy consumption；Wherein, turn
To road feel formula are as follows:
Power steering formula are as follows:
Fforce=Tw/rp+FMRF
Turn to energy consumption formula are as follows:
Fenergy=Em+EMRF+Emotor+Eecu
In formula, EmIndicate machine driving module energy consumption, EMRFIndicate magnetorheological fluid power-assisted module energy consumption, EmotorIndicate electronic function
Consumption, EecuIndicate ECU energy consumption.
6. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 2 based on magnetorheological fluid
Method, which is characterized in that the optimized variable in the step (3) includes: motor rotation inertia Jm1, torque sensor stiffness KS,
Metal plate gap L, magnetorheological fluid section of shear A, magnet exciting coil the number of turns Z, deceleration mechanism reduction ratio G.
7. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 2 based on magnetorheological fluid
Method, which is characterized in that the pinion and-rack electric hydraulic steering system Model for Multi-Objective Optimization in the step (4) are as follows:
In formula, FenergyIt (X) is steering energy consumption function, FroadIt (X) is steering response function, FforceIt (X) is power steering function, g1
It (X) is steering sensitivity.
8. the multiple-objection optimization side of the pinion and-rack electric hydraulic steering system according to claim 2 based on magnetorheological fluid
Method, which is characterized in that the multi-objective Evolutionary Algorithm based on reference point in the step (5), the specific steps are as follows:
51) the initial father population P that scale is N is generated at randomt(Jm1, KS, L, A, Z, G), setting evolutionary generation counts t=1, according to
The initial value of electric hydraulic steering system optimized variable initializes population；
52) to parent population PtThe operation such as intersected, made a variation, being selected, generating progeny population Qt；
53) by PtWith progeny population QtIt is merged into a set, non-dominated ranking is carried out to the individual in set, it will be all non-
It dominates individual and is saved in set UtIn；
54) to set UtIt carries out non-dominated ranking and saves all non-dominant individuals, optimal objective function is calculated according to formula (1)
Value generates candidate reference point by selection optimal objective value, is saved in set RmIn；
In formula, fmIt (x) is selected optimized variable to steering response, power steering, the target function value for turning to energy consumption, m=1
When objective function be steering response, objective function is power steering when m=2, and objective function is to turn to energy consumption when m=3,For
Optimal objective function value, εmIt is zero or arbitrarily small positive number；
55) R is calculated according to formula (2)mThe crowding distance of middle candidate reference point chooses the biggish candidate reference of top n crowding distance
Point is saved in final reference point set R；
In formula, idCrowding distance between individual；For value of the i+1 individual on m-th of optimization object function；For i-
Value of 1 individual on m-th of optimization object function；
56) to each reference point in set R, according to formula (3) set of computations UtIn all individuals weighting Euclidean distance
In formula, xiFor above-mentioned selected non-dominant individual, i=6；fm(xi) it is individual xiValue in m target；
57) the corresponding set U of the smallest weighting Euclidean distance values is found outtIn it is non-dominant individual and RmIn candidate reference point,
The non-dominant individual found out is saved in next-generation population Pt+1In, circulate operation is used as next godfather until obtaining individual
Population Pt+1；
58) judge whether t is equal to the maximum evolutionary generation gen of setting, if t=gen, algorithm terminates to exit optimization, obtains electricity
Liquid steering system optimal solution；Otherwise t=t+1 goes to step 52) and continues to execute optimization.
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| CN201910002267.7A CN109774785B (en) | 2019-01-02 | 2019-01-02 | Gear-rack type electrohydraulic steering system based on magnetorheological fluid and optimization method |
| PCT/CN2019/116095 WO2020140603A1 (en) | 2019-01-02 | 2019-11-06 | Magneto-rheological fluid-based rack and pinion electro-hydraulic steering system and optimization method |
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