CN110182255A - A kind of wire-controlled steering system and its application method for integral new-energy passenger - Google Patents
A kind of wire-controlled steering system and its application method for integral new-energy passenger Download PDFInfo
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- CN110182255A CN110182255A CN201910552323.4A CN201910552323A CN110182255A CN 110182255 A CN110182255 A CN 110182255A CN 201910552323 A CN201910552323 A CN 201910552323A CN 110182255 A CN110182255 A CN 110182255A
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- steering
- controller
- sensor
- wire
- control system
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- 238000000034 method Methods 0.000 title claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 1
- 230000007704 transition Effects 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of wire-controlled steering systems for integral new-energy passenger, belong to integral new-energy passenger technical field, it includes turning to input system, steering control system, turning to execution system, Safety Redundancy system and sensor；The steering control system is connected with steering input system, steering control system, Safety Redundancy system and sensor respectively, and the CPU in steering control system is connected with the steering pattern switch in the steering operation end and Safety Redundancy system turned in input system respectively by conducting wire；The steering motor turned in execution system is connected with the steering motor controller in steering control system；Sensor is connected by conducting wire with the sensor data interface in the steering control system that makes the transition；The steering operation end turned in input system is connected by the mechanical steering controller in Safety Redundancy system with the wheel turned in execution system；The present invention solves the problems, such as that current new energy intelligence car lacks mature steering control system to ensure its normal traffic safety.
Description
Technical field
The present invention relates to integral new-energy passenger technical fields, and in particular to a kind of steering-by-wire system for integral new-energy passenger
System.
Background technique
New energy intelligent automobile is believed to effectively to solve urban road traffic congestion, traffic accident takes place frequently, air is dirty
The problems such as dye, development are attracted attention by the whole world.Intelligent driving is the key technology for realizing " intelligent automobile " and " wisdom traffic ".Line
It is the tracking of intelligent driving automobile realizing route and the necessary key technology of avoidance hedging that control, which turns to, and performance, which directly affects, actively pacifies
Entirely and riding experience；Although current wire-controlled steering system uses relative maturity orthodox car field, in new energy intelligence
Energy automobile is still to meet complicated demand for control by the technology of enough maturations for the specific exploitation of steering control system.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of wire-controlled steering system for integral new-energy passenger is provided, with solution
Certainly current new energy intelligence car lacks mature steering control system come the problem of ensureing its normal traffic safety.
To solve the above problems, the present invention provides the following technical scheme that
A kind of wire-controlled steering system for integral new-energy passenger, including turn to input system, steering control system, turn to execute system
System, Safety Redundancy system and sensor；The steering control system respectively with turn to input system, turn to execution system, safety
Redundant system and sensor are connected, in which:
Input system is turned to be arranged in vehicle drive area, including steering operation end interconnected and steering order converter；
Steering control system setting controls in vehicular meter area including the steering controller being connected by conducting wire and steering motor
Device；
Execution system is turned to be arranged in vehicle chassis front position, including steering motor and wheel；Wheel passes through with steering motor
Transmission mechanism is connected；
Safety Redundancy system includes the mechanical steering controller that vehicle drive area is arranged in and the steering mould that vehicle bottom is arranged in
Formula switch；
Steering controller includes CPU, sensor data interface, power supply module controller, driving interface, display interface, wherein passing
Sensor data-interface, power supply module controller, driving interface and display interface are connect with CPU respectively；
CPU is connected with steering operation end and steering pattern switch respectively by conducting wire；
Steering motor is connected with steering motor controller；
Sensor is connected by conducting wire with sensor data interface；
Steering operation end is connected by mechanical steering controller with wheel.
Preferably, CPU is and to have the microcontroller of corresponding extended capability with converter and CAN communication interface.
Preferably, steering controller further includes storage control.
A kind of application method of the wire-controlled steering system for integral new-energy passenger, comprising the following steps:
S1, starting car enter initial installation, and wire-controlled steering system is in stand-by operation state at this time, and steering control system is not defeated
Turn signal out, steering motor do not work, and wheel keeps in situ constant；
S2, judge whether turn to input system or steering control system occurs electronic failure；If electronic failure occurs, by turning to
Controller issues malfunction instruction, and control steering pattern switch work, wheel drives mechanical turn by steering operation end at this time
The mechanical steering control of conventional truck is realized to controller；If entering S3 there is no electronic failure；
S3, judge whether vehicle needs to turn to by sensor or driver, if not needing to turn to, be transferred to step S2；If desired turn
To into S4；
S4, driver control steering operation end carry out activity, by steering order converter by the offset variable at steering operation end
Value is converted to after the identifiable electric signal numerical value of steering controller again by the CPU of this electric signal data transfer to steering controller
Place, or directly transmit the electrical signal to the CPU of steering controller by sensor, CPU are received after above electrical signal by operation
It handles to steering motor controller and exports pwm control signal, so that steering motor be driven to rotate, further pass through transmission mechanism band
Motor car wheel is completed to rotate according to above-mentioned pwm control signal.
The invention has the advantages that:
New energy intelligence car after improvement design of the present invention is inputted from input is turned to using Direct Digital signal, complete set
Without the mechanical part that may cause turn-around delay in system, the turning velocity compared to traditional car is fast；And due to by driver's compartment
Steering operation end and wheel progress are mechanically decoupled, and in rough ground, road surface acute variation will not transmitted directly vehicle driving
To steering wheel or manipulatable end, driver is easier to steadily control vehicle, can effectively improve riding comfort；It is superfluous by design safety
For remaining system to realize when steering-by-wire breaks down, steering system, which is automatically switched to, is directly carried out mechanical control by steering operation end
The mechanical steering system of system guarantees that vehicle can continue to normally travel；The present invention is realized the operation of vehicle driver and vehicle
Traveling decoupling, improve Vehicular turn efficiency and vehicle comfort, it is easier to other active safety control subsystems of vehicle
System carries out communication and integrated control, realizes that self-steering provides good hardware foundation for intelligent driving automobile；On the other hand,
Intelligence degree of the present invention is high, easy to operate, practical, and applicable vehicle range is wide, is applicable not only to new energy intelligence car
Wire-controlled steering system, apply also for other environmental Kuznets Curves for having the characteristics that similar.
Detailed description of the invention
Fig. 1 is the structure connection diagram of the present invention in embodiment；
Fig. 2 is the flow chart of apparatus of the present invention application method；
Fig. 3 is the internal component connection schematic diagram of steering controller in the present embodiment；
Fig. 4 is its functional module composition schematic diagram when the present invention executes steering-by-wire；
Description of symbols: 1, steering input system, 2, steering control system, 3, steering execution system, 4, Safety Redundancy system,
5, sensor, 11, steering operation end, 12, steering order converter, 21, steering controller, 22, steering motor controller, 31,
Steering motor, 32, wheel, 33, transmission mechanism, 41, mechanical steering controller, 42, steering pattern switch, 211, CPU, 212,
Sensor data interface, 213, power supply module controller, 214, driving interface, 215, display interface, 216, storage control.
Specific embodiment
With reference to the accompanying drawing and the present invention is described further in specific embodiment:
Embodiment:
Referring to Fig.1, the present embodiment provides a kind of wire-controlled steering systems for integral new-energy passenger, including turn to input system 1, turn
To control system 2, turn to execution system 3, Safety Redundancy system 4 and sensor 5；The steering control system 2 respectively with steering
Input system 1, steering control system 2, Safety Redundancy system 4 and sensor 5 are connected, in which:
Input system 1 is turned to be arranged in vehicle drive area, including steering operation end 11 interconnected and steering order converter
12；Steering operation end 11 is steering wheel in the present embodiment；
The setting of steering control system 2 is in vehicular meter area, including the steering controller 21 being connected by conducting wire and steering motor control
Device 22 processed；
Execution system 3 is turned to be arranged in vehicle chassis front position, including steering motor 31 and wheel 32；Wheel 32 and steering electricity
Machine 31 is connected by transmission mechanism 33；
Safety Redundancy system 4 includes that the mechanical steering controller 41 in vehicle drive area is arranged in and the steering of vehicle bottom is arranged in
Mode switch 42；
Steering controller 21 includes CPU211, sensor data interface 212, power supply module controller 213, driving interface 214, shows
Show interface 215, wherein sensor data interface 212, power supply module controller 213, driving interface 214 and display interface 215 are divided
It is not connect with CPU211；The CPU211 is band AD conversion, has CAN communication interface, and has corresponding extended capability
Microcontroller, storage control can configure external spread F lash memory module according to actual needs, and storing data is looked into for outside
It askes；In this example it is shown that interface 215 is connected by conducting wire with built-in vehicle electronic instrument.
Power supply module controller 213 is connected with power supply module by conducting wire, and the power supply module includes charhing unit, 24V
Battery and detecting voltage sensor, the charhing unit are connect with 24V battery, and 24V battery and detecting voltage sense
Device connection, wherein 24V battery can borrow the battery of vehicle, can also be separately configured.
Sensor is displacement sensor, and institute's displacement sensors using digital calibrated modular sensor or its
Its temperature sensor, the CPU of control module obtain the position at steering operation end by reading the change in displacement value of displacement sensor
Shifting amount.
CPU211 is connected with steering operation end 11 and steering pattern switch 41 respectively by conducting wire；
Steering motor 31 is connected with steering motor controller 22；
Sensor 5 is connected by conducting wire with sensor data interface 212；
Steering operation end 11 is connected by mechanical steering controller 41 with wheel 32, in the present embodiment, mechanical steering controller 41
Including steering column and turning machine, wheel 32 is connected by steering column with turning machine, and steering operation end 11 is connected with turning machine
Change wheel 32 by the rotation of steering wheel.
Steering controller 21 further includes storage control 216.
The present embodiment additionally provides the application method of the wire-controlled steering system, comprising the following steps:
S1, starting car enter initial installation, and wire-controlled steering system is in stand-by operation state at this time, and steering control system 2 is not
Turn signal is exported, steering motor 31 does not work, and wheel keeps in situ constant；
S2, judge whether turn to input system 1 or steering control system 2 occurs electronic failure；If electronic failure occurs, by turning
Malfunction instruction is issued to controller 21, control steering pattern switch 42 works, and wheel 32 is by steering operation end 11 at this time
Mechanical steering controller 41 is driven to realize the mechanical steering control of conventional truck；If entering S3 there is no electronic failure；
S3, judge whether vehicle needs to turn to by sensor 5 or driver, if not needing to turn to, be transferred to step S2；If desired turn
To into S4；
S4, driver control the 11 carry out activity of steering operation end, by steering order converter 12 by the position at steering operation end 11
Variate-value is moved to be converted to after the identifiable electric signal numerical value of steering controller 21 again by this electric signal data transfer to course changing control
At the CPU211 of device 21, or the CPU211 of steering controller 21 is directly transmitted the electrical signal to by sensor 5, CPU211 is received
Pwm control signal is exported to steering motor controller 22 by calculation process after above electrical signal, to drive steering motor 31
Rotation further is completed to rotate with motor car wheel 32 by transmission mechanism 33 according to above-mentioned pwm control signal.
The foregoing is merely the preferred embodiment of the present invention, it is noted that those skilled in the art, not
It is detached under the premise of the principle of the invention, various deformation and improvement can also be made, this also should be considered as protection scope of the present invention.
Claims (4)
1. a kind of wire-controlled steering system for integral new-energy passenger, it is characterised in that: including turning to input system (1), turning to control
System (2), steering execution system (3), Safety Redundancy system (4) and sensor (5) processed；The steering control system (2) is respectively
It is connected with input system (1), steering control system (2), Safety Redundancy system (4) and sensor (5) is turned to, in which:
Input system (1) setting is turned to turn in vehicle drive area, including steering operation end interconnected (11) and steering order
Parallel operation (12)；
Steering control system (2) setting including the steering controller (21) being connected by conducting wire and turns to electricity in vehicular meter area
Machine controller (22)；
Execution system (3) are turned to be arranged in vehicle chassis front position, including steering motor (31) and wheel (32)；Wheel (32)
It is connected with steering motor (31) by transmission mechanism (33)；
Safety Redundancy system (4) includes that the mechanical steering controller (41) in vehicle drive area is arranged in and vehicle bottom is arranged in
Steering pattern switch (42)；
Steering controller (21) includes CPU(211), sensor data interface (212), power supply module controller (213), driving connect
Mouthful (214), display interface (215), wherein sensor data interface (212), power supply module controller (213), driving interface
(214) it is connect respectively with CPU(211) with display interface (215)；
CPU(211) it is connected respectively with steering operation end (11) and steering pattern switch (41) by conducting wire；
Steering motor (31) is connected with steering motor controller (22)；
Sensor (5) is connected by conducting wire with sensor data interface (212)；
Steering operation end (11) is connected by mechanical steering controller (41) with wheel (32).
2. a kind of wire-controlled steering system for integral new-energy passenger according to claim 1, it is characterised in that: CPU(211)
For with converter and CAN communication interface, and has the microcontroller of corresponding extended capability.
3. a kind of wire-controlled steering system for integral new-energy passenger according to claim 1, it is characterised in that: course changing control
Device (21) further includes storage control (216).
4. a kind of application method of wire-controlled steering system for integral new-energy passenger according to any one of claims 1 to 3,
It is characterized in that: the following steps are included:
S1, starting car enter initial installation, and wire-controlled steering system is in stand-by operation state, steering control system (2) at this time
Turn signal is not exported, steering motor (31) does not work, and wheel keeps in situ constant；
S2, judge whether turn to input system (1) or steering control system (2) occurs electronic failure；If electronic failure occurs,
Malfunction instruction is issued by steering controller (21), control steering pattern switch (42) work, wheel (32) is by turning at this time
Mechanical steering controller (41) are driven to realize that the mechanical steering of conventional truck controls to operating side (11)；If there is no electronics events
Barrier then enters S3；
S3, judge whether vehicle needs to turn to by sensor (5) or driver, if not needing to turn to, be transferred to step S2；If desired
It turns to, into S4；
S4, driver control steering operation end (11) carry out activity, by steering order converter (12) by steering operation end
(11) offset variable value is converted to after the identifiable electric signal numerical value of steering controller (21) again by this electric signal data transfer
Steering controller (21) is transmitted the electrical signal to by sensor (5) at the CPU(211 of steering controller (21)), or directly
CPU(211), CPU(211) it receives after above electrical signal by calculation process to steering motor controller (22) output PWM control
Signal processed, to drive steering motor (31) to rotate, further by transmission mechanism (33) band motor car wheel (32) according to above-mentioned PWM
It controls signal and completes rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910552323.4A CN110182255A (en) | 2019-06-25 | 2019-06-25 | A kind of wire-controlled steering system and its application method for integral new-energy passenger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910552323.4A CN110182255A (en) | 2019-06-25 | 2019-06-25 | A kind of wire-controlled steering system and its application method for integral new-energy passenger |
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| Publication Number | Publication Date |
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| CN110182255A true CN110182255A (en) | 2019-08-30 |
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| CN201910552323.4A Pending CN110182255A (en) | 2019-06-25 | 2019-06-25 | A kind of wire-controlled steering system and its application method for integral new-energy passenger |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0112910A4 (en) * | 1982-06-28 | 1984-11-21 | Peter Norton | Coupling for drive shaft and servo-motor driven shaft. |
| US20040039508A1 (en) * | 2002-08-20 | 2004-02-26 | Muqtada Husain | Motor vehicle steering system |
| CN101229819A (en) * | 2008-02-28 | 2008-07-30 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN103754256A (en) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | Steering-mode adjustable electric automobile steering system and control method |
| CN106515843A (en) * | 2016-11-10 | 2017-03-22 | 北京理工大学 | Mixed type steering-by-wire system |
| CN109017974A (en) * | 2018-07-02 | 2018-12-18 | 南京航空航天大学 | Assist steering system and its control method with active steering function |
| CN109774786A (en) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | A kind of multi-mode servo steering system and its control method based on steering-by-wire |
-
2019
- 2019-06-25 CN CN201910552323.4A patent/CN110182255A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0112910A4 (en) * | 1982-06-28 | 1984-11-21 | Peter Norton | Coupling for drive shaft and servo-motor driven shaft. |
| US20040039508A1 (en) * | 2002-08-20 | 2004-02-26 | Muqtada Husain | Motor vehicle steering system |
| CN101229819A (en) * | 2008-02-28 | 2008-07-30 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN103754256A (en) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | Steering-mode adjustable electric automobile steering system and control method |
| CN106515843A (en) * | 2016-11-10 | 2017-03-22 | 北京理工大学 | Mixed type steering-by-wire system |
| CN109017974A (en) * | 2018-07-02 | 2018-12-18 | 南京航空航天大学 | Assist steering system and its control method with active steering function |
| CN109774786A (en) * | 2019-01-30 | 2019-05-21 | 南京航空航天大学 | A kind of multi-mode servo steering system and its control method based on steering-by-wire |
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Application publication date: 20190830 |