CN109850010B - Wire-controlled independent steering system and method thereof - Google Patents
Wire-controlled independent steering system and method thereof Download PDFInfo
- Publication number
- CN109850010B CN109850010B CN201910151622.7A CN201910151622A CN109850010B CN 109850010 B CN109850010 B CN 109850010B CN 201910151622 A CN201910151622 A CN 201910151622A CN 109850010 B CN109850010 B CN 109850010B
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- hydraulic
- control unit
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a wire-controlled independent steering system and a method thereof. The actuating mechanism comprises a steering motor, a wheel steering mechanism, an oil supply system and a hydraulic cylinder; under the condition that the vehicle normally runs, the left and right steering motors are used for respectively driving the left and right racks to carry out independent steering coordination control; when one of the left steering motor and the right steering motor breaks down, the left rack and the right rack are combined into a whole by closing the electromagnetic valve, the rack is driven by the other motor to ensure the normal steering of the vehicle, and when the vehicle approaches the steering end, the hydraulic system with redundancy backup is used for finely adjusting the wheel with the fault steering to ensure the normal straight line running and the steering running of the vehicle; the invention can realize the independent flexible coordination control of the independent steering of the left wheel and the right wheel during the normal steer-by-wire, increase the operation stability of the automobile, and ensure that the automobile can normally run in a straight line and steer when the steering system fails.
Description
Technical Field
The invention belongs to the field of vehicle steering systems, and particularly relates to a wire-controlled independent steering system and a method thereof.
Background
The steering system is an important component of the chassis of the automobile and is also a window for human interaction with the automobile. At present, due to the development of intelligent vehicles, a steer-by-wire technology is applied to future steering systems, and in order to realize more flexible and changeable control of the intelligent vehicles, the requirements of future vehicles can be better met by adopting independent control of left and right steering wheels. However, the independent steering control of the front wheel by wire has high complexity and is difficult to realize redundancy backup, thereby limiting the development of the front wheel by wire.
In the prior art, the steering execution systems with fault-tolerant functions are complex in structure and control, accurate steering is difficult to achieve, normal steering is influenced by adjustment of steering when faults occur in some steering execution systems, the time is long, and the steering safety of an automobile in the fault is difficult to guarantee.
Disclosure of Invention
Aiming at the problems, the invention provides a wire control independent steering system with a fault-tolerant function and a method thereof, when a steering motor fails, the independent steering can be changed into integral steering in the shortest time, the steering function is recovered, and when a left wheel and a right wheel have angular deviation, the direction and the angle of the wheel at the failed side are finely adjusted, so that the normal straight line driving and the steering driving of an automobile can be ensured.
The invention also provides a vehicle with the steer-by-wire independent steering system.
The technical scheme adopted by the invention for solving the technical problems is as follows: a steer-by-wire independent steering system comprising
The detection mechanism is used for detecting a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal;
the actuating mechanism comprises a steering motor, a wheel steering mechanism, an oil supply system and a hydraulic cylinder, wherein the steering motor is connected with front wheels through the wheel steering mechanism, the wheel steering mechanism is connected with a piston rod of the hydraulic cylinder, the bottom of a cylinder body of the hydraulic cylinder is connected, the oil supply system is connected with cavities on two sides of a piston in the hydraulic cylinder, and pipelines for connecting the oil supply system and the hydraulic cylinder are respectively provided with a two-way electromagnetic valve;
and the control unit is respectively connected with the detection mechanism, the steering motor, the oil supply system and the two-way electromagnetic valve.
In the above scheme, the oil supply system comprises a hydraulic oil tank and a hydraulic pump;
the hydraulic oil tank is respectively connected with cavities at two sides of a piston in the hydraulic cylinder through pipelines;
one end of the hydraulic pump is connected with the hydraulic oil tank, and the other end of the hydraulic pump is respectively connected with a pipeline connected between the hydraulic oil tank and the hydraulic cylinder through an electromagnetic directional valve.
Furthermore, one end of the electromagnetic directional valve is connected with the hydraulic pump, and the other end of the electromagnetic directional valve is connected with the four channels;
the first channel is connected with a first pipeline where the first bidirectional electromagnetic valve is located, and the first pipeline is connected with a left cavity of the left hydraulic cylinder and a hydraulic oil tank;
the second channel is connected with a second pipeline where the second bidirectional electromagnetic valve is located, and the second pipeline is connected with the right cavity of the left hydraulic cylinder and the hydraulic oil tank;
the channel III is connected with a pipeline III where the third bidirectional electromagnetic valve is located, and the pipeline III is connected with the left cavity of the right hydraulic cylinder and the hydraulic oil tank;
and the channel IV is connected with a pipeline IV where the fourth bidirectional electromagnetic valve is positioned, and the pipeline IV is connected with the right cavity of the right hydraulic cylinder and the hydraulic oil tank.
In the above scheme, the wheel steering mechanism is a rack-and-pinion steering gear, and comprises a gear and a rack;
the steering motor is connected with a gear through a speed reducing mechanism, and the gear is connected with a rack;
the inner side of the rack is connected with a piston rod in the hydraulic cylinder, and the outer side of the rack is connected with the front wheel through a tie rod, a knuckle arm and a knuckle.
In the above scheme, the detection mechanism comprises a steering wheel angle sensor, a vehicle speed sensor, a front wheel steering angle sensor and a motor current/torque sensor;
the steering wheel angle sensor is used for detecting a steering wheel angle signal of the vehicle;
the vehicle speed sensor is used for detecting the vehicle speed of the vehicle;
the wheel rotation angle sensor is used for detecting the rotation angles of the left wheel and the right wheel;
the motor current/torque sensor is used to detect the current and torque of the steering motor.
A vehicle comprises the steer-by-wire independent steering system.
A control method according to the steer-by-wire independent steering system, comprising the steps of:
the detection mechanism detects a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal and transmits the signals to the control unit;
the control unit determines the steering transmission ratio of the steering motor according to a steering wheel turning angle signal, a vehicle speed signal and a front wheel turning angle signal, controls the two-way electromagnetic valve to be in an open state, controls the gears and the racks on the left side and the right side to be two independent parts, and controls the steering motor to drive the wheels to realize independent steering;
the control unit detects whether the steering motor fails according to a current/torque signal of the steering motor, when the steering motor on one side fails, the control unit controls the two-way electromagnetic valves to be in a closed state, the racks on the two sides and the hydraulic cylinder are combined into a whole under the action of hydraulic pressure, and the control unit controls the steering motor on the other side to drive the racks on the two sides to drive the wheels to realize normal running and steering.
In the above scheme, the method further comprises the following steps:
when the steering motor on one side fails and the turning angles of the wheels on the two sides are not equal, i.e. | thetaLeft side of-θRight side|≠0，θLeft side ofAnd thetaRight sideRepresenting the turning angle of the left wheel and the turning angle of the right wheel respectively;
the control unit opens the hydraulic pump and opens the corresponding two-way electromagnetic valve, so that the hydraulic oil of the hydraulic oil tank flows into the cavity corresponding to the hydraulic cylinder, the rack on one side of the driving fault drives the wheel to realize the direction and the angle needing to rotate, and when the angle is thetaLeft side of-θRight sideWhen | ═ 0, the control unit closes the hydraulic pump 2 and all the two-way solenoid valves, and the steering motor on the other side drives the racks on the two sides to drive the wheels to realize normal running and steering.
Compared with the prior art, the invention has the beneficial effects that:
1. under the condition that the vehicle normally runs, the left and right steering motors are used for respectively driving the left and right racks to carry out independent steering coordination control; when one of the left steering motor and the right steering motor breaks down, the left rack and the right rack are combined into a whole by closing the electromagnetic valve, the rack is driven by the other motor to ensure the normal steering of the vehicle, and when the vehicle approaches the steering end, the hydraulic system with redundancy backup is used for finely adjusting the wheel with the fault steering to ensure the normal straight line running and the steering running of the vehicle; the invention can realize the independent flexible coordination control of the independent steering of the left wheel and the right wheel during the normal steer-by-wire, increase the operation stability of the automobile, and ensure that the automobile can normally run in a straight line and steer when the steering system fails.
2. When the steering motor of the invention breaks down, the gear and rack on two sides can be combined into a whole in the shortest time, thus ensuring the safe steering of the automobile.
3. According to the invention, after a fault, the wheel on the fault side is adjusted by utilizing hydraulic pressure, so that the straight running and the next steering running of the vehicle are ensured.
4. The device has simple structure, redundancy and easy control.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of the general structure of the present invention.
FIG. 2 is a schematic diagram of the control structure of the electronic control unit according to the present invention.
Fig. 3 is a schematic diagram of a system fault-tolerant control structure when a right motor fails.
In the figure, 1-a hydraulic oil tank, 2-a hydraulic pump, 3-a left steering motor, 4-a left rack, 5-a left hydraulic cylinder, 6-a left piston, 7-a right hydraulic cylinder, 8-a right piston, 9-a right rack, 10-a wheel rotation angle sensor, 11-a right steering motor, 12-a fourth two-way solenoid valve, 13-a third two-way solenoid valve, 14-a second two-way solenoid valve, 15-a first two-way solenoid valve and 16-an electromagnetic directional valve.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
FIG. 1 illustrates an embodiment of the independent steer-by-wire system of the present invention, comprising a detection mechanism, an actuator, and a control unit;
the detection mechanism is used for detecting a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal;
the executing mechanism comprises a left steering motor 3, a right steering motor 11, a wheel steering mechanism, an oil supply system, a left hydraulic cylinder 5, a right hydraulic cylinder 7, an electromagnetic directional valve 16 and two-way electromagnetic valves 12, 13, 14 and 15, wherein the left steering motor 3 is connected with a left front wheel through the left wheel steering mechanism, the left wheel steering mechanism is connected with a piston rod of the left hydraulic cylinder 5, the right steering motor 11 is connected with a right front wheel through the right wheel steering mechanism, and the right wheel steering mechanism is connected with a piston rod of the right hydraulic cylinder 7; the cylinder body bottom of left pneumatic cylinder 5 and right pneumatic cylinder 7 is connected, oil feeding system is connected with the piston both sides cavity in left pneumatic cylinder 5, the right pneumatic cylinder 7, and all is equipped with two-way solenoid valve 12 on the pipeline that oil feeding system and left pneumatic cylinder 5, right pneumatic cylinder 7 are connected, 13, 14, 15.
The control unit is respectively connected with the detection mechanism, the steering motors 3 and 11, the oil supply system and the two-way electromagnetic valves 12, 13, 14 and 15.
The oil supply system comprises a hydraulic oil tank 1 and a hydraulic pump 2; the hydraulic oil tank 1 is respectively connected with cavities at two sides of the piston in the hydraulic cylinders 5 and 7 through pipelines; one end of the hydraulic pump 2 is connected with the hydraulic oil tank 1, and the other end is respectively connected with a pipeline connected between the hydraulic oil tank 1 and the hydraulic cylinders 5 and 7 through an electromagnetic directional valve 16. The hydraulic pump is used for pumping oil into the left hydraulic cylinder 5 and the right hydraulic cylinder 7.
Specifically, the inlet of the electromagnetic directional valve 16 is connected with the hydraulic pump 2, and the outlet is provided with four channels which are respectively connected with the four channels; the first channel is connected with a first pipeline where the first bidirectional electromagnetic valve 15 is located, and the first pipeline is connected with a left cavity of the left hydraulic cylinder 5 and the hydraulic oil tank 1; the second channel is connected with a second pipeline where the second bidirectional electromagnetic valve 14 is located, and the second pipeline is connected with a right cavity of the left hydraulic cylinder 5 and the hydraulic oil tank 1; the third channel is connected with a third pipeline where the third bidirectional electromagnetic valve 13 is located, and the third pipeline is connected with the left cavity of the right hydraulic cylinder 7 and the hydraulic oil tank 1; and the channel IV is connected with a pipeline IV where the fourth two-way electromagnetic valve 12 is positioned, and the pipeline IV is connected with the right cavity of the right hydraulic cylinder 7 and the hydraulic oil tank 1. After the control unit analyzes the fault, if the angle of the wheel needs to be adjusted, one oil outlet is selected for pumping oil, and the angle adjustment of the left wheel and the right wheel is consistent when the steering is close to the end. The two-way electromagnetic valve is normally in an open state, the electromagnetic valve is opened when the coil is electrified, and the electromagnetic valve is closed after power failure. When the two-way electromagnetic valves 12, 13, 14, 15 are in the open state, the pressure at both ends is large, the hydraulic oil flows from the end with large pressure to the end with small pressure, and the hydraulic oil can be prevented from flowing as long as the power is cut off no matter the pressure of the hydraulic oil at both ends.
The wheel steering mechanism is a gear rack steering gear and comprises a gear and racks 4 and 9; the steering motors 3 and 11 are connected with gears through a speed reducing mechanism, and the gears are connected with the racks 4 and 9; the inner sides of the racks 4 and 9 are connected with piston rods in the hydraulic cylinders 5 and 7, and the outer sides of the racks 4 and 9 are connected with front wheels through a tie rod, a knuckle arm and a knuckle. Specifically, the left steering motor 3 is connected with the left rack 4 through a speed reduction mechanism, and the right steering motor 11 is connected with the right rack 9 through a speed reduction mechanism.
Specifically, the detection mechanism comprises a steering wheel angle sensor, a vehicle speed sensor, a front wheel steering angle sensor and a motor current/torque sensor; the steering wheel angle sensor is used for detecting a steering wheel angle signal of the vehicle; the vehicle speed sensor is used for detecting the vehicle speed of the vehicle; the wheel rotation angle sensor comprises a left front wheel rotation angle sensor a and a right front wheel rotation angle sensor b which are respectively used for detecting the rotation angles of the left wheel and the right wheel; the motor current/torque sensor includes a left motor current/torque sensor c and a right motor current/torque sensor d for detecting the current and the torque of the left steering motor 3 and the right steering motor 11, respectively. And the information such as the steering wheel angle, the vehicle speed, the front wheel angle and the like is integrated and used for determining the steering transmission ratio so as to control the currents of the left steering motor 3 and the right steering motor 11 to realize steering. The motor current/torque sensors are used to detect the currents and torques of the left and right steering motors 3, 11 to detect whether the motors are malfunctioning.
As shown in fig. 2, the control unit is an ECU, which includes three modules: the device comprises an input module, a judgment module and an output module. The input module is used for receiving a steering wheel turning angle signal, a vehicle speed signal and a front wheel turning angle signal detected by the detection mechanism, the judging module judges whether the motor has a fault according to a current/torque signal of the steering motor, if the motor has no fault, the optimal steering transmission ratio is judged by combining the steering wheel, the vehicle speed and the front wheel turning angle signal, and the output module is used for controlling the current of the steering motors 3 and 11 and controlling the signals of the hydraulic pump 2 and the electromagnetic valve.
When the steer-by-wire system is in a normal state, the control unit controls the first two-way solenoid valve 15, the second two-way solenoid valve 14, the third two-way solenoid valve 13 and the fourth two-way solenoid valve 12 to be in an open state, and the left rack 4 and the right rack 9 are independent parts and move relatively without mutual influence; when the left rack 4 and the right rack 9 respectively push the left piston 6 and the right piston 8 to move, oil in the oil cylinder can enter the hydraulic oil tank 1 through the oil pipe.
The control unit calculates an optimal steering transmission ratio according to signals of a steering wheel angle sensor, a vehicle speed sensor, a front wheel angle sensor and the like, sends commands to controllers of the left steering motor 3 and the right steering motor 11 according to the steering transmission ratio respectively, controls the current, the voltage and the rotating speed of the left steering motor 3 and the right steering motor 11, and drives the left rack 4 and the right rack 9 respectively by the left steering motor 3 and the right steering motor 11 so as to drive the left knuckle arm and the right knuckle arm respectively to realize steering of left and right wheels. The left wheel and the right wheel can independently steer without influencing each other, so that the turning angle of the wheels during steering meets Ackerman's theorem as far as possible:
ctgβ-ctgα＝K/L
wherein beta is an outer steering wheel deflection angle, alpha is an inner steering wheel deflection angle, K is the distance between the intersection points of the main pin axes at two sides and the ground, L is an automobile wheelbase, beta and alpha are obtained through a wheel rotation angle sensor, and K and L are parameters of the automobile.
When one of the left steering motor 3 and the right steering motor 11 is in failure, the control unit immediately controls the first two-way solenoid valve 15, the second two-way solenoid valve 14, the third two-way solenoid valve 13 and the fourth two-way solenoid valve 12 to be in a closed state, so that the left rack 4 and the right rack 9 are integrated, and the other normal steering motor drives the left rack 4 and the right rack 9 to steer the wheels. When the vehicle returns to the straight line driving from the steering state, if the steering angles of the two wheels have certain deviation, the hydraulic pump 2 is started, the wheel on the fault side is finely adjusted according to the angle of the wheel on the normal side, and the rotation angles of the left wheel and the right wheel are consistent, so that the vehicle can normally run in the straight line and in the steering mode.
Example 2
A vehicle including the steer-by-wire independent steering system according to embodiment 1, and thus having the advantages of embodiment 1, will not be described herein.
Example 3
A control method of the steer-by-wire independent steering system according to embodiment 1, comprising the steps of:
the detection mechanism detects a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal and transmits the signals to the control unit;
the control unit determines the steering transmission ratio of the steering motors 3 and 11 according to a steering wheel angle signal, a vehicle speed signal and a front wheel steering angle signal, controls the two-way electromagnetic valves 12, 13, 14 and 15 to be in an open state, at the moment, the gears and the racks 4 and 9 on the left side and the right side are two independent parts, and controls the steering motors 3 and 11 to drive wheels to realize independent steering;
the control unit detects whether the steering motors 3 and 11 are in fault according to current/torque signals of the steering motors, when the steering motors 3 and 11 on one side are in fault, the control unit controls the two-way electromagnetic valves 12, 13, 14 and 15 to be in a closed state, the racks 4 and 9 on the two sides and the hydraulic cylinders 5 and 7 are combined into a whole under the action of hydraulic pressure, and the control unit controls the steering motors 3 and 11 on the other side to drive the racks 4 and 9 on the two sides to drive wheels to realize normal running and steering.
The method further comprises the following steps:
when the steering motors 3 and 11 on one side are in failure and the rotation angles of the wheels on the two sides are not equal, namely, thetaLeft side of-θRight side|≠0，θLeft side ofAnd thetaRight sideRepresenting the turning angle of the left wheel and the turning angle of the right wheel respectively;
the control unit opens the hydraulic pump 2 and opens the corresponding two-way electromagnetic valves 12, 13, 14 and 15, so that the hydraulic oil in the hydraulic oil tank 1 flows into the cavities corresponding to the hydraulic cylinders 5 and 7, drives the racks 4 and 9 on the fault side to drive the wheels to realize the direction and angle required to rotate, and when the angle is thetaLeft side of-θRight sideWhen | ═ 0, the control unit closes the hydraulic pump 2 and all the two-way electromagnetic valves 12, 13, 14, 15, and the steering motors 3, 11 on the other side drive the racks 4, 9 on both sides to drive the wheels to realize normal running and steering。
Specifically, when the steer-by-wire independent steering system normally works, the control unit controls the first two-way solenoid valve 15, the second two-way solenoid valve 14, the third two-way solenoid valve 13 and the fourth two-way solenoid valve 12 to be in an open state, so that the left rack and the right rack are in two independent parts and move relatively without affecting each other. When the racks 4 and 9 push the pistons 6 and 8 to move, oil in the hydraulic cylinders 5 and 7 can enter the hydraulic oil tank 1 through oil pipes. The control unit calculates a steering transmission ratio according to signals of a steering wheel corner sensor, a vehicle speed sensor, a front wheel corner sensor and the like, respectively sends certain currents to the left steering motor 3 and the right steering motor 11 according to the steering transmission ratio, controls the left wheel and the right wheel to steer independently, enables the corners of the wheels to meet Ackerman's theorem during steering, and improves the flexibility and the operation stability of the automobile.
When the control unit detects that the left steering motor 3 has a fault, the electronic control unit sends a command to control the first two-way solenoid valve 15, the second two-way solenoid valve 14, the third two-way solenoid valve 13 and the fourth two-way solenoid valve 12 to be closed completely, the left rack 4 and the left hydraulic cylinder 5 are combined into a whole under the action of hydraulic pressure, and the right rack 9 and the right hydraulic cylinder 7 are combined into a whole under the action of hydraulic pressure, so that the control unit sends a command to the right motor controller to control the right steering motor 11 to drive the right rack 9 to drive the left rack 4, thereby ensuring the normal steering of the vehicle. When the steering is nearly finished, preferably the steering wheel angle is less than 10 °, the control unit detects | θ |Left side of-θRight sideAnd when | ≠ 0, adjusting the left wheel angle according to the right wheel angle. ThetaLeft side ofAnd thetaRight sideRepresenting the turning angle of the left wheel and the turning angle of the right wheel, respectively. If it is desired to steer the left hand wheel to the left, the control unit will activate the hydraulic pump 2, simultaneously turning on channel two and opening the first and second two- way solenoid valves 15, 14. Due to the action of the hydraulic pump 2, the hydraulic oil will flow into the right side of the left hydraulic cylinder 5 from the top through the second two-way solenoid valve 14, so that the left piston 6 moves to the left, and simultaneously the left side of the left hydraulic cylinder 5 flows the hydraulic oil into the hydraulic oil tank 1 through the first two-way solenoid valve 15 when the | theta | (theta) ([ theta ]) isLeft side of-θRight sideWhen | ═ 0, the hydraulic pump 2 and all the two-way solenoid valves are immediately closedAnd the right steering motor 11 drives the racks on the two sides to realize the steering of the vehicle. If the hydraulic pump 2 is turned on, the first passage is opened and the first and second two- way solenoid valves 15 and 14 are opened when the angle theta is adjustedLeft side of-θRight sideWhen | ═ 0, the hydraulic pump 2 and all the two-way solenoid valves are immediately closed, and the racks on both sides are driven by the right steering motor 11 to achieve steering of the vehicle.
As shown in fig. 3, when the control unit detects that the right steering motor 11 has a fault, the control unit controls the first two-way solenoid valve 15, the second two-way solenoid valve 14, the third two-way solenoid valve 13 and the fourth two-way solenoid valve 12 to be closed, the left rack 4 and the left hydraulic cylinder 5 are combined into a whole under the action of hydraulic pressure, and the right rack 9 and the right hydraulic cylinder 7 are combined into a whole under the action of hydraulic pressure, so that the control unit sends a command to the left steering motor controller to control the left steering motor 3 to drive the left rack 4 to drive the right rack 9, thereby ensuring the normal steering of the vehicle. When the steering is nearly finished, preferably the steering wheel angle is less than 10 °, the control unit detects | θ |Left side of-θRight sideAnd when | ≠ 0, adjusting the right wheel angle according to the left wheel angle. If left-hand regulation is performed, the control unit will activate the hydraulic pump 2, at the same time switching on channel four and opening the third 13 and fourth 12 two-way solenoid valves. Due to the action of the hydraulic pump 2, the hydraulic oil flows into the right cavity of the right hydraulic cylinder 7 from the top through the fourth two-way electromagnetic valve 12, so that the right piston 8 moves to the left, meanwhile, the left cavity of the right hydraulic cylinder 7 flows the hydraulic oil into the hydraulic oil tank 1 through the third two-way electromagnetic valve 13, and when the angle theta is equal toLeft side of-θRight sideWhen | ═ 0, the hydraulic pump 2 and all the two-way solenoid valves are immediately closed, and the left steering motor 3 drives the two racks to realize the steering of the vehicle. If the key is adjusted to the right, the principle is the same, and the description is omitted here.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. A steer-by-wire independent steering system, comprising
The detection mechanism is used for detecting a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal;
the hydraulic system comprises an execution mechanism, wherein the execution mechanism comprises steering motors (3 and 11), a wheel steering mechanism, an oil supply system and two hydraulic cylinders (5 and 7), the steering motors (3 and 11) are connected with front wheels through the wheel steering mechanism, the wheel steering mechanism is connected with piston rods of the hydraulic cylinders (5 and 7), the bottoms of the hydraulic cylinders (5 and 7) are connected, the oil supply system is connected with cavities on two sides of the pistons in the hydraulic cylinders (5 and 7), and pipelines for connecting the oil supply system and the hydraulic cylinders (5 and 7) are respectively provided with a two-way electromagnetic valve (12, 13, 14 and 15); the oil supply system comprises a hydraulic oil tank (1) and a hydraulic pump (2); the hydraulic oil tank (1) is respectively connected with cavities on two sides of the piston in the hydraulic cylinders (5, 7) through pipelines; one end of the hydraulic pump (2) is connected with the hydraulic oil tank (1), and the other end of the hydraulic pump is respectively connected with a pipeline connected between the hydraulic oil tank (1) and the hydraulic cylinders (5 and 7) through an electromagnetic directional valve (16);
and the control unit is respectively connected with the detection mechanism, the steering motors (3 and 11), the oil supply system and the two-way electromagnetic valves (12, 13, 14 and 15).
2. The steer-by-wire independent steering system according to claim 1, wherein said electromagnetic directional valve (16) is connected to a hydraulic pump (2) at one end and to four channels at the other end;
the first channel is connected with a first pipeline where the first bidirectional electromagnetic valve (15) is located, and the first pipeline is connected with a left cavity of the left hydraulic cylinder (5) and the hydraulic oil tank (1);
the second channel is connected with a second pipeline where a second bidirectional electromagnetic valve (14) is located, and the second pipeline is connected with a right cavity of the left hydraulic cylinder (5) and the hydraulic oil tank (1);
the third channel is connected with a third pipeline where a third bidirectional electromagnetic valve (13) is located, and the third pipeline is connected with a left cavity of the right hydraulic cylinder (7) and the hydraulic oil tank (1);
and the fourth channel is connected with a fourth pipeline where the fourth two-way electromagnetic valve (12) is positioned, and the fourth pipeline is connected with the right cavity of the right hydraulic cylinder (7) and the hydraulic oil tank (1).
3. The steer-by-wire independent steering system according to claim 1, wherein said wheel steering mechanism is a rack and pinion steering gear comprising a rack and pinion (4, 9);
the steering motors (3 and 11) are connected with gears through a speed reducing mechanism, and the gears are connected with the racks (4 and 9);
the inner sides of the racks (4, 9) are connected with piston rods in the hydraulic cylinders (5, 7), and the outer sides of the racks (4, 9) are connected with front wheels through a tie rod, a knuckle arm and a knuckle.
4. The steer-by-wire independent steering system according to claim 1, wherein said detection mechanism comprises a steering wheel angle sensor, a vehicle speed sensor, a front wheel steering angle sensor and a motor current/torque sensor;
the steering wheel angle sensor is used for detecting a steering wheel angle signal of the vehicle;
the vehicle speed sensor is used for detecting the vehicle speed of the vehicle;
the wheel rotation angle sensor is used for detecting the rotation angles of the left wheel and the right wheel;
the motor current/torque sensor is used for detecting the current and the torque of the steering motor (3, 11).
5. A vehicle characterized by comprising the steer-by-wire independent steering system of any one of claims 1 to 4.
6. A control method of the steer-by-wire independent steering system according to any one of claims 1 to 4, characterized by comprising the steps of:
the detection mechanism detects a steering wheel angle signal, a current/torque signal of a steering motor, a vehicle speed signal and a front wheel steering angle signal and transmits the signals to the control unit;
the control unit determines the steering transmission ratio of the steering motors (3 and 11) according to a steering wheel angle signal, a vehicle speed signal and a front wheel steering angle signal, controls the two-way electromagnetic valves (12, 13, 14 and 15) to be in an open state, at the moment, the gears and the racks (4 and 9) on the left side and the right side are two independent parts, and controls the steering motors (3 and 11) to drive the wheels to realize independent steering;
the control unit detects whether the steering motors (3 and 11) break down or not according to current/torque signals of the steering motors, when the steering motors (3 and 11) on one side break down, the control unit controls the two-way electromagnetic valves (12, 13, 14 and 15) to be in a closed state, the racks (4 and 9) on the two sides and the hydraulic cylinders (5 and 7) are combined into a whole under the action of hydraulic pressure, and the control unit controls the steering motors (3 and 11) on the other side to drive the racks (4 and 9) on the two sides to drive wheels to realize normal driving and steering.
7. The control method of the steer-by-wire independent steering system according to claim 6, characterized by further comprising the steps of:
when the steering motor (3, 11) on one side fails and the rotating angles of the wheels on the two sides are not equal, namely, the angle is thetaLeft side of-θRight side|≠0，θLeft side ofAnd thetaRight sideRepresenting the turning angle of the left wheel and the turning angle of the right wheel respectively;
the control unit opens the hydraulic pump (2) and opens the corresponding two-way electromagnetic valves (12, 13, 14, 15) to enable hydraulic oil of the hydraulic oil tank (1) to flow into the corresponding cavities of the hydraulic cylinders (5, 7), and drives the racks (4, 9) on the fault side to drive the wheels to realize the direction and the angle which need to rotate, when the angle is thetaLeft side of-θRight sideWhen | ═ 0, the control unit closes the hydraulic pump (2) and all the two-way electromagnetic valves (12, 13, 14, 15), and the steering motors (3, 11) on the other side drive the racks (4, 9) on the two sides to drive the wheels to realize normal runningAnd steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151622.7A CN109850010B (en) | 2019-02-28 | 2019-02-28 | Wire-controlled independent steering system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151622.7A CN109850010B (en) | 2019-02-28 | 2019-02-28 | Wire-controlled independent steering system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109850010A CN109850010A (en) | 2019-06-07 |
| CN109850010B true CN109850010B (en) | 2021-02-12 |
Family
ID=66899485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910151622.7A Active CN109850010B (en) | 2019-02-28 | 2019-02-28 | Wire-controlled independent steering system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109850010B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110615117A (en) * | 2019-09-29 | 2019-12-27 | 北京航瑞达科技有限公司 | Mechanical auxiliary system special for hydraulic synchronous steering system |
| CN112744291B (en) * | 2019-10-31 | 2022-05-13 | 比亚迪股份有限公司 | Hydraulic motor and steering column with same |
| CN111186479B (en) * | 2020-01-15 | 2021-07-20 | 江苏大学 | Fault-tolerant system and method for wire-controlled steering |
| CN111232054B (en) * | 2020-02-17 | 2021-12-21 | 江苏大学 | Integrated rollover prevention system and control method thereof |
| CN112278070B (en) * | 2020-08-08 | 2022-03-25 | 清华大学 | Independent steering device and front wheel steering system using same |
| CN114104091B (en) * | 2020-08-28 | 2023-05-05 | 华为技术有限公司 | Independent steering mechanism, steering system and control method |
| CN112519876A (en) * | 2020-09-24 | 2021-03-19 | 吉林宇恒光电仪器有限责任公司 | Electric independent steering system and control method thereof |
| CN114655302A (en) * | 2020-12-23 | 2022-06-24 | 北汽福田汽车股份有限公司 | Steering system and vehicle with same |
| CN113696968B (en) * | 2021-09-29 | 2022-11-15 | 东风汽车集团股份有限公司 | Steering mechanism and parameter calibration method thereof |
| CN114348105B (en) * | 2022-02-16 | 2023-04-11 | 常州大学 | Rear wheel steering system of heavy truck and control method |
| CN117719591B (en) * | 2024-02-08 | 2024-05-10 | 杭州世宝汽车方向机有限公司 | Hydraulic mechanical backup system suitable for steer-by-wire device and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114614A (en) * | 2016-08-26 | 2016-11-16 | 吉林大学 | A kind of controlled hydraulic locking type left and right wheels independent steering gear |
| DE102016208775A1 (en) * | 2016-05-20 | 2017-11-23 | Ford Global Technologies, Llc | Steer-by-wire system, motor vehicle and method for operating a steer-by-wire system |
| CN107813870A (en) * | 2017-12-01 | 2018-03-20 | 临工集团济南重机有限公司 | A kind of aerial work platform four-wheel steering hydraulic system |
| CN208134429U (en) * | 2018-04-20 | 2018-11-23 | 浙江戴德隆翠汽车有限公司 | A kind of line traffic control hydraulic automobile steering system mechanical backup device |
| CN109291991A (en) * | 2018-12-01 | 2019-02-01 | 南京天航智能装备研究院有限公司 | A kind of bi-motor line traffic control composite turning system and its control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1428740B1 (en) * | 2002-12-11 | 2007-07-25 | Michelin Recherche et Technique S.A. | Vehicle steering system with an emergency operating mode in the event of a failure of a wheel steering actuator |
-
2019
- 2019-02-28 CN CN201910151622.7A patent/CN109850010B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016208775A1 (en) * | 2016-05-20 | 2017-11-23 | Ford Global Technologies, Llc | Steer-by-wire system, motor vehicle and method for operating a steer-by-wire system |
| CN106114614A (en) * | 2016-08-26 | 2016-11-16 | 吉林大学 | A kind of controlled hydraulic locking type left and right wheels independent steering gear |
| CN107813870A (en) * | 2017-12-01 | 2018-03-20 | 临工集团济南重机有限公司 | A kind of aerial work platform four-wheel steering hydraulic system |
| CN208134429U (en) * | 2018-04-20 | 2018-11-23 | 浙江戴德隆翠汽车有限公司 | A kind of line traffic control hydraulic automobile steering system mechanical backup device |
| CN109291991A (en) * | 2018-12-01 | 2019-02-01 | 南京天航智能装备研究院有限公司 | A kind of bi-motor line traffic control composite turning system and its control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109850010A (en) | 2019-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109850010B (en) | Wire-controlled independent steering system and method thereof | |
| CN109291991B (en) | Dual-motor drive-by-wire composite steering system and control method thereof | |
| US6076627A (en) | Power steering for motor vehicles | |
| CN109774786B (en) | Multi-mode power-assisted steering system based on steer-by-wire and control method thereof | |
| US6612393B2 (en) | Steering system for motor vehicles | |
| JP3220952B2 (en) | Steering system for cars | |
| CN108045432B (en) | Steering cylinder, hydraulic power steering system, steering axle and vehicle | |
| JP3734996B2 (en) | Hydraulic power steering system for automobiles | |
| CN110001765A (en) | A kind of automobile-used steer by wire apparatus and control method with redundant unit | |
| GB2333272A (en) | Steering system | |
| CN107792168A (en) | Sleeve motor steer-by-wire device and control method | |
| CN112654931B (en) | Control system, control method, intelligent automobile and device | |
| US20070169471A1 (en) | Vehicle steering mechanism | |
| CN201580431U (en) | Electric control and electric four-wheeled steering (4WS) device of electric vehicle | |
| CN113212542A (en) | Electro-hydraulic coupling intelligent circulating ball type steer-by-wire system and control method thereof | |
| CN107010106B (en) | A kind of double steering power cylinder hydraulic pressure wire-controlled steering system and method with road feel simulation | |
| JPS59128054A (en) | Four-wheel steering gear of vehicle | |
| CN113928412A (en) | Electro-hydraulic composite steering system and electro-hydraulic decoupling control method | |
| CN104309684A (en) | Circulating ball type magnetofluid electric control hydraulic power steering device and control method | |
| CN104057999B (en) | There is the hydraulic power steering system of magnetic moment of torsion superposition | |
| US8783407B2 (en) | Steering system having a hydraulic steering column | |
| CN108860305B (en) | EPS of large vehicle | |
| JP4465670B2 (en) | Full fluid link steering system | |
| CN212473643U (en) | Hydraulic auxiliary control electric independent steering system and electric vehicle | |
| CN112550445A (en) | Hydraulic power-assisted steering system |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221129 Address after: Group 6, Wanba Community, Jingling Street, Tianmen City, Hubei Province, 431700 Patentee after: Hubei Kaisheng automobile steering system Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |