CN110481632B - Drive-by-wire independent steering actuating mechanism based on multiphase motor drive - Google Patents
Drive-by-wire independent steering actuating mechanism based on multiphase motor drive Download PDFInfo
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- CN110481632B CN110481632B CN201910606948.4A CN201910606948A CN110481632B CN 110481632 B CN110481632 B CN 110481632B CN 201910606948 A CN201910606948 A CN 201910606948A CN 110481632 B CN110481632 B CN 110481632B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Steering Control In Accordance With Driving Conditions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a line control independent steering actuating mechanism based on multiphase motor drive, which comprises a support for the line control independent steering actuating mechanism, a steering motor, a controller, a speed reducer, a force sensor, a position sensor, a universal ring, a connecting piece and a fastening device, wherein the support is used for supporting the line control independent steering actuating mechanism; the drive-by-wire independent steering actuating mechanism support comprises an upper support part, a middle support part and a lower support part, wherein the upper support part is upwards connected with a speed reducer and downwards connected with a steering motor and a controller, the middle support part is integrated with the steering motor and the controller, the lower support part is respectively connected with a wheel and an automobile body, the universal ring is a universal ring used for protecting the motor, the universal ring is divided into an inner universal ring and an outer universal ring, the inner universal ring and the outer universal ring are hinged through two force transmission pins, the inner universal ring is connected with the drive-by-wire independent steering actuating mechanism support, the outer universal ring is connected with the automobile frame (or a bearing type automobile body) through the other two force transmission pins crossed with the outer universal ring, and when the wheel is vertically jumped in the direction.
Description
Technical Field
The invention belongs to the technical field of automobile steering, and particularly relates to a drive-by-wire independent steering actuating mechanism based on multi-phase motor driving.
Background
With the development of automobile technology, the safety and stability of automobiles are more and more emphasized. Independent steering is one of active chassis technologies for realizing vehicle intellectualization and improving vehicle stability, and meanwhile, the turning radius of the vehicle can be reduced and the maneuverability of the vehicle can be improved when the vehicle is steered at a low speed.
In the prior art, the wire-controlled independent steering technology adopts a traditional steering trapezoidal structure (the steering trapezoidal structure is shown in figure 1) to be cancelled, and a four-wheel independent structure is used for replacing the traditional trapezoidal structure, so that the automobile can realize various steering modes such as inclined running, crab running, pivot steering and the like. But at present mostly realize turning to the function by turning to the direct drive wheel assembly of motor, specifically do: each wheel of the steering system is provided with a steering motor, so that the steering at a large turning angle is realized, and the stability of the vehicle is improved. One of the disadvantages of this prior art: the position of the motor is unreasonable in arrangement, an output shaft of the steering motor is directly connected with a wheel assembly, a protection device is lacked, and the vehicle is easy to be subjected to large bending moment during overturning or high-speed steering, so that the motor is damaged, the system fails and other consequences are generated; the prior art has two disadvantages: because the wire control independent system cancels the original mechanical connection device with a trapezoidal structure and controls the wheels by the four-wheel independent motor alone, once one motor is damaged, the whole circuit system fails, and the danger of the four-wheel independent steering mechanism in the prior art is increased by several times compared with the mechanical connection mode with the trapezoidal structure.
Disclosure of Invention
The invention provides a drive-by-wire independent steering actuating mechanism based on multi-phase motor drive, aiming at solving the problems that the motor with four-wheel independent structure in the prior art is easy to damage due to unreasonable position layout or lack of a protective device, and the whole system fails due to the damage of a single motor.
The invention provides the following technical scheme aiming at solving the technical problems:
a drive-by-wire independent steering actuating mechanism based on multiphase motor drive comprises a support for the drive-by-wire independent steering actuating mechanism, a steering motor, a controller, a speed reducer, a force sensor, a position sensor, a universal ring, a connecting piece and a fastening device; the wire control independent steering actuating mechanism support comprises an upper support part, a middle support part and a lower support part, wherein the upper support part is connected with a speed reducer upwards and is connected with a steering motor and a controller downwards; the torque sensor, the universal ring and the position sensor are sequentially arranged around the upper part of the bracket from top to bottom; the steering motor and the controller drive the wire-controlled independent steering actuating mechanism bracket to rotate around the axis of the steering motor to drive the wheels to deflect so as to steer the vehicle;
the universal ring is used for protecting a motor and is divided into an inner universal ring and an outer universal ring, the inner universal ring and the outer universal ring are hinged through two force transmission pins, the inner universal ring is connected with the drive-by-wire independent steering executing mechanism support, the outer universal ring is connected with a frame (or a bearing type vehicle body) through the other two force transmission pins crossed with the outer universal ring, and when a wheel vertically jumps in the direction vertical to a road surface, the steering motor can swing along with the swinging of the universal ring.
The upper part of the wire control independent steering actuating mechanism support is a circular truncated cone-shaped connecting mechanism, and a through hole for connecting a speed reducer is axially formed in the center of the circular truncated cone-shaped connecting mechanism; the middle part of the wire control independent steering actuating mechanism support is a downward extending motor peripheral protection device which can contain a motor and a controller, the motor peripheral protection device comprises two downward extending vertical arms, the lower part of the wire control independent steering actuating mechanism support is positioned below the two vertical arms and fixedly connected with the two vertical arms, the lower part of the support is a shaft connecting mechanism which can transversely penetrate or transversely connect a driving shaft or a driven shaft, and when the shaft connecting mechanism is used for a driving wheel, a through hole for transversely penetrating the driving shaft is formed in the center of the shaft connecting mechanism; when the shaft connecting mechanism is used for a driven wheel, a driven shaft short shaft is transversely fixedly connected to one side of the center of the shaft connecting mechanism, which is close to the wheel.
The speed reducer is a harmonic speed reducer, and the horizontal radial direction of the harmonic speed reducer is respectively a speed reducer wave generator, a speed reducer flexible wheel and a speed reducer rigid wheel from inside to outside; the reducer wave generator positioned in the inner layer is longitudinally connected with the connecting piece through a fastening device; the flexible wheel of the speed reducer positioned in the radial middle layer is longitudinally connected with the upper part of the bracket of the drive-by-wire independent steering actuating mechanism through a fastening device; the speed reducer wave generator is the input end of the speed reducer, the flexible wheel of the speed reducer is the output end of the speed reducer, and the output end of the speed reducer is connected with the drive-by-wire independent steering actuating mechanism support, so that the drive-by-wire independent steering actuating mechanism support rotates around the axis of the steering motor to drive the wheels to steer.
The inner universal ring is symmetrically provided with a pair of through holes, the outer universal ring is also provided with a pair of through holes matched with the inner universal ring, and the inner universal ring and the outer universal ring are hinged through a force transmission pin connected in the two universal rings on the through holes; the outer universal ring is further crossly provided with another pair of through holes, the outer universal ring is hinged with a frame (or a bearing type vehicle body) or a suspension control arm through two universal ring outer connecting force transmission pins, the inner universal ring is connected with the drive-by-wire independent steering actuating mechanism support through a force sensor at the upper end of the inner universal ring and a position sensor at the lower end of the inner universal ring, and when the wheels jump up and down, the drive-by-wire independent steering actuating mechanism support can swing along with the swinging of the universal rings, so that the steering motor shaft is not influenced by radial force.
The force sensor comprises an inner ring and an outer ring, the positions of the inner ring and the outer ring are fixed, the upper end surface of the inner ring of the force sensor is connected with a rigid wheel of the speed reducer, and a connecting bridge arm of the inner ring and the outer ring of the force sensor is provided with a strain gauge which is used for measuring tangential force and normal force transmitted to the force sensor by the speed reducer; the position sensor is also called as a rotation angle sensor, the rotation angle sensor comprises a gear ring and a detection head from inside to outside in the horizontal radial direction, and the gear ring is arranged flush with the lower end face of the detection head; wherein the gear ring is sleeved at the upper end of the bracket in a pressing way and rotates along with the rotation of the bracket, and the detection head is fixed on the lower surface of the inner universal ring; the inner universal ring is positioned below the force sensors, and the three sensors are connected through holes in the outer ring of the force sensors, holes in the inner universal ring, holes in the position sensor detection head and screws.
The motor is a multi-phase motor, two groups of multi-phase coils are arranged in the multi-phase motor, a shell is shared, and the multi-phase motor is composed of two logic permanent magnet synchronous motors.
The motor and the controller are integrated together and are positioned in the wire-controlled independent steering actuating mechanism support, the motor shell is connected with the wire-controlled independent steering actuating mechanism support, and the motor rotor is connected with the speed reducer through the connecting element.
In a conventional mode of the multi-phase motor, two groups of multi-phase drive bridges respectively provide 50% of torque; when one group of multiphase drive bridge circuit or one group of multiphase windings are damaged partially or completely, the controller can make the multiphase drive bridge circuit in failure state be switched into closed state, and another drive bridge circuit can implement steering function, at the same time can output fault alarm and can record and store correspondent fault.
Advantageous effects of the invention
1. The invention adopts the connection form of the universal rings to limit the extra rotational freedom degree of the suspension, the outer universal ring is connected with the frame (or the bearing type vehicle body) or the suspension control arm through the two force transmission pins, the inner universal ring is connected with the outer universal ring through the two force transmission pins, and when the wheel jumps up and down, the universal rings can prevent the motor from being impacted by radial force to cause the damage of the rotor.
2. The invention adopts a multi-phase motor and a controller as a steering driving motor and a controller, and the two groups of multi-phase driving bridge circuits respectively provide 50% of force in a conventional mode; when one group of multiphase drive bridge circuit or one group of multiphase windings of the motor are partially or completely damaged, the ECU closes the damaged drive bridge circuit, and the other group of multiphase drive bridge circuit continues to work, so that the reliability of the system is improved.
3. The invention overcomes the traditional prejudice that a motor directly drives a wheel assembly, adopts a method that the motor drives a steering support and then the steering support drives the wheel assembly, increases a buffer device between the motor and the wheel assembly, namely a drive-by-wire independent steering support, and the independent steering support is combined with a universal ring, even if the independent steering support swings along with the swinging of the universal ring when the motor jumps due to the vertical jumping of the wheel, the radial force on the motor is weakened, and a two-stage motor safety protection mechanism based on the support and the universal ring is realized.
Drawings
FIG. 1 is a prior art trapezoidal shaped steering block diagram of a vehicle;
FIG. 2 is a schematic structural view of the mechanism when used for driving wheels;
FIG. 3 is a schematic view of the mechanism when used with a driven wheel;
FIG. 4a is a sectional view showing the upper end of the mechanism;
FIG. 4b is an enlarged view of a portion of FIG. 4 a;
FIG. 4c is a schematic structural diagram of a force sensor, an inner gimbal ring, and a position sensor;
FIG. 4d is a schematic representation of inner gimbal ring and outer gimbal relative ring attitude;
FIG. 5 is a schematic diagram of an example of the mechanism used in combination with a double wishbone suspension;
FIG. 6 is the mechanism multi-phase motor and controller hardware architecture;
FIG. 7 is a diagram of the effect of the mechanism;
wherein:
1-wire control independent steering actuating mechanism support 1-1: the upper part of the bracket; 1-2: the middle part of the bracket; 1-3: the lower part of the bracket; 1-4: the shaft is connected with the driving shaft through a hole; 1-5 shaft connecting driven shaft short shaft; 2-steering motor and controller; 3-1 inner universal ring; 3-2: an outer gimbal ring; 3-2-1: a universal ring is internally connected with a hole; 3-:2-2: a universal ring outer connecting hole; 3-3: a force transmission pin is connected in the universal ring; 3-4: the universal ring is externally connected with a force transmission pin; 4-a harmonic reducer assembly; 4-1: a reducer wave generator; 4-2: a flexible wheel of the reducer; 4-3: a reducer rigid wheel; 5-1: a connecting element; 5-2: a fastening device; 6-position sensor; 6-1: a position sensor ring gear; 6-2: a position sensor detection head; 7-a force sensor; 8: a brake assembly; 8-1-brake disc, 8-2-hub assembly, 8-3-brake caliper support, 9: a suspension assembly; 9-1: a ball stud; 9-2: a spring damper; 9-3: a suspension lower control arm; 9-4: an upper suspension control arm; frame (or body-carrying vehicle); 11: and (7) wheels.
Detailed Description
The technical solutions provided by the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments.
Design principle of the invention
1. The principle that the independent steering support drives the wheels to rotate is as follows: the motor shell is fixedly connected with the independent steering support, the speed reducer flexible wheel is also fixedly connected with the independent steering support, the motor output shaft transmits torque to the speed reducer wave generator, the speed reducer wave generator transmits torque to the speed reducer flexible wheel, the speed reducer flexible wheel drives the independent steering support to rotate, and the lower part of the independent steering support is transversely connected with the driving wheel or the driven wheel, so that the independent steering support drives the wheels to rotate.
2. The principle that the motor swings along with the universal ring to avoid damage is as follows: a. two rings are longitudinally fixedly connected: the inner universal ring is longitudinally and fixedly connected with the outer ring of the force sensor at the top end of the inner universal ring through a screw, so that the longitudinal and fixed connection of the two rings is realized; b. two rings are fixedly connected with a speed reducer: the force sensor on the uppermost layer of the two rings is fixedly connected with the rigid wheel of the speed reducer, and meanwhile, the rigid wheel, the flexible wheel and the wave generator of the speed reducer are integrated, so that the force sensor is fixedly connected with the rigid wheel of the speed reducer; c. the speed reducer is fixedly connected with the independent steering support: because the rigid wheel, the flexible wheel and the wave generator of the speed reducer are integrated, the whole speed reducer is fixedly connected with the independent steering support, and the two rings are fixedly connected with the independent steering mechanism. Because the two rings are fixedly connected with the speed reducer, the speed reducer is fixedly connected with the independent steering support, and the independent steering support is connected with the whole independent steering mechanism, the two rings are fixedly connected with the whole independent steering mechanism, namely the inner universal ring is fixedly connected with the whole independent steering mechanism. When the vehicle jolts, if the direction of the impact force of the vehicle jolts comes from two sides of the connecting line of the two force transmission pins of the inner universal ring and the outer universal ring, the motor can swing up and down along with the two sides of the connecting line of the inner universal ring; when the vehicle jolts, the direction of the impact force of the vehicle is from two sides of the other straight line which is perpendicular to the connecting cross, the motor can swing up and down along with the two sides of the connecting line of the two force transmission pins which are perpendicular to the other straight line which is perpendicular to the connecting cross, namely the outer universal ring and the vehicle frame. Because the inner universal ring and the outer universal ring are provided with the two groups of crossed rotating shafts, no matter where the direction of the impact force comes from when the vehicle bumps, the corresponding universal rings and the independent steering mechanism can swing correspondingly through the two groups of crossed rotating shafts of the inner universal ring and the outer universal ring, so that the impact force of the bump on the independent steering mechanism is counteracted, the motor is protected, and the damage is avoided.
Based on the principle of the invention, the invention designs the drive-by-wire independent steering actuating mechanism based on the multi-phase motor drive.
A drive-by-wire independent steering actuating mechanism based on multi-phase motor drive is shown in figures 2, 3 and 4a-4d, and comprises a drive-by-wire independent steering actuating mechanism bracket 1, a steering motor and controller 2, a speed reducer 4, a force sensor 7, a position sensor 6 (6-1; 6-2), a universal ring (3-1; 3-2), a connecting piece 5-1 and a fastening device 5-2; the drive-by-wire independent steering actuating mechanism support 2 comprises a support upper part 1-1 which is upwards connected with a speed reducer and downwards connected with a steering motor and a controller 2, a support middle part 1-2 which integrates the steering motor and the controller, and a support lower part 1-3 which is respectively connected with wheels and a vehicle body; the force sensor 7, the universal rings (3-1,3-2) and the position sensors (6-1, 6-2) are sequentially arranged around the upper part 1-1 of the bracket from top to bottom; the steering motor and controller 2 drives the wire-controlled independent steering actuating mechanism bracket to rotate around the axis of the steering motor to drive wheels to deflect so as to steer the vehicle;
the method is characterized in that: the universal rings (3-1 and 3-2) are used for protecting motors and are divided into inner universal rings (3-1) and outer universal rings (3-2), the inner universal rings (3-1) and the outer universal rings (3-2) are hinged through two force transmission pins (3-3), the inner universal rings (3-1) are connected with a drive-by-wire independent steering actuating mechanism support (1), the outer universal rings are connected with a vehicle frame (or a bearing type vehicle body) 10 through the other two force transmission pins (3-4) crossed with the outer universal rings, and when wheels jump up and down, the steering motors can swing along with the swinging of the universal rings.
The upper part 1-1 of the bracket of the wire control independent steering actuating mechanism is a circular truncated cone-shaped connecting mechanism, and a through hole for connecting a speed reducer is axially formed in the center of the circular truncated cone-shaped connecting mechanism; the middle part of the support of the independent steer-by-wire executing mechanism is a motor peripheral protection device which extends downwards and can accommodate a motor and a controller, the motor peripheral protection device comprises two vertical arms extending downwards, the lower part 1-3 of the support of the independent steer-by-wire executing mechanism is arranged below the two vertical arms and is fixedly connected with the two vertical arms, the lower part 1-3 of the support is a shaft connecting mechanism which can transversely penetrate or transversely connect a driving shaft or a driven shaft, and when the shaft connecting mechanism is used for a driving wheel, the center of the shaft connecting mechanism is provided with a through hole 1-4 for transversely penetrating the driving shaft; when the shaft connecting mechanism is used for a driven wheel, a driven shaft short shaft 1-5 is transversely fixedly connected to one side of the center of the shaft connecting mechanism, which is close to the wheel.
The speed reducer is a harmonic speed reducer, and is shown in figures 4a-4d, and the harmonic speed reducer is horizontally and radially provided with a speed reducer wave generator 4-1, a speed reducer flexible wheel 4-2 and a speed reducer rigid wheel 4-3 from inside to outside; the reducer wave generator positioned at the inner layer is longitudinally connected with the connecting piece 5-1 through a fastening device 5-2; the flexible wheel 4-2 of the speed reducer positioned in the middle layer is longitudinally connected with the upper part 1-1 of the bracket of the wire control independent steering actuating mechanism through a fastening device 5-2; the speed reducer wave generator 4-1 is an input end of the speed reducer, the speed reducer flexible wheel 4-2 is an output end of the speed reducer, and the output end is connected with the drive-by-wire independent steering actuating mechanism support 1, so that the drive-by-wire independent steering actuating mechanism support 1-1 is driven to rotate around the axis of the steering motor to drive the wheels to steer.
As shown in fig. 2, 3 and 4d, a pair of through holes 3-2-1 are symmetrically arranged on the inner universal ring 3-1, a pair of through holes 3-2-1 matched with the outer universal ring are also arranged on the outer universal ring, and the inner universal ring and the outer universal ring are hinged through a force transmission pin 3-3 connected in two universal rings on the through holes; the outer universal ring is further crossly provided with another pair of through holes 3-2-2, the outer universal ring is hinged with a frame (or a bearing type vehicle body) 10 or a suspension control arm through two universal ring outer connecting force transmission pins 3-4, the inner universal ring 3-1 is connected with the drive-by-wire independent steering executing mechanism support 1 through a force sensor 7 at the upper end of the inner universal ring and a position sensor 6 at the lower end of the inner universal ring, and when a road surface bumps, the drive-by-wire independent steering executing mechanism support 1 can swing along with the swinging of the universal rings (3-1,3-2), so that a steering motor shaft is not influenced by radial force.
As shown in fig. 4a, 4b and 4c, the force sensor 7 includes an inner ring and an outer ring, the positions of the inner ring and the outer ring are fixed, the upper end surface of the inner ring is connected with the rigid wheel of the speed reducer through a screw, a strain gauge is arranged at the joint of the inner ring and the outer ring, and the radial force and the longitudinal force transmitted to the speed reducer by the speed reducer are measured through the deformation of the strain gauge; the position sensor 6 is also called a rotation angle sensor, the rotation angle sensor comprises a gear ring and a detection head from inside to outside in the horizontal radial direction, and the gear ring is arranged flush with the lower end face of the detection head; wherein the gear ring is sleeved at the upper end of the bracket in a pressing way and rotates along with the rotation of the bracket, and the detection head is fixed on the lower surface of the inner universal ring; as shown in FIG. 4a, the inner gimbal ring 3-1 is located below the force sensor 7 and above the position sensor gear ring 6-1, and the three sensors are connected through a hole on the outer ring of the force sensor 7, a hole on the inner gimbal ring 3-1, a hole 6-2 on the position sensor probe, and screws.
Supplementary explanation: the objects fixedly connected with the inner universal ring 3-1 on two sides of the cross section of the figure 4a are asymmetric, and because the volume of the position sensor probe is small, the probe is fixedly connected with a certain local position on the lower surface of the universal ring and is relatively fixed in position.
As shown in fig. 6, the motor is a multi-phase motor, and two groups of multi-phase coils are arranged in the multi-phase motor, share a casing, and are composed of two logical permanent magnet synchronous motors.
As shown in fig. 2 and 3, the motor and the controller 2 are integrated and located inside the steer-by-wire independent steering actuator bracket 1, the motor housing is connected with the steer-by-wire independent steering actuator bracket 1, and the motor rotor is connected with the speed reducer through the connecting element 5-1.
As shown in fig. 6, the multiphase motor is in a normal mode, and two groups of multiphase drive bridges each provide 50% of the torque; when one group of multiphase drive bridge circuit or one group of multiphase windings are damaged partially or completely, the controller can make the multiphase drive bridge circuit in failure state be switched into closed state, and another drive bridge circuit can implement steering function, at the same time can output fault alarm and can record and store correspondent fault.
The first embodiment is as follows:
1. the invention relates to a drive process of a wire control independent steering actuating mechanism: as shown in figures 3 and 4a-4d, when the structure is used for a driving wheel, the lower end of the mechanism is provided with a hole 1-4 for supporting a wheel axle of the wheel, a shell of a motor and a controller 2 is fixed inside the drive-by-wire independent steering executing mechanism 1 through a bolt, an output shaft of the motor is in key connection with a connecting piece 5-1, an outer ring of the connecting piece 5-1 is fixed on a wave generator 4-1 of a speed reducer through a bolt, and a universal ring 3-3 is arranged between an outer universal ring 3-2 and an inner universal ring 3-1 and is connected with a force transmission pin 3-3. When the structure is used for driven wheels, as shown in fig. 2, the lower part 1-3 of the drive-by-wire independent steering actuating mechanism is provided with a wheel stub shaft 1-5 on the outer side and is directly connected with a hub assembly 8-2, and the connection form of other parts is the same as that when the structure is applied to a driving wheel.
2. The working process of the harmonic reducer of the invention is as follows: as shown in FIG. 4a, the fastening device 5-2 comprises a bolt, a harmonic reducer waveform generator 4-1 is connected with a connecting piece 5-1 through the bolt, a harmonic reducer flexible wheel 4-2 is connected with a drive-by-wire independent steering actuator bracket 1 through the bolt, a reducer rigid wheel 4-3 is connected with an inner ring of a torque sensor 7 through the bolt, an outer ring of the torque sensor is connected with an inner universal ring 3-1 through the bolt, the reducer generator 4-1 is used as an input, the reducer flexible wheel 4-2 is used as an output, the reducer rigid wheel 4-3 does not rotate and is fixedly connected with a force sensor 7, the force sensor 7 is fixedly connected with the inner universal ring 3-1, and therefore the force sensor 7 and the inner universal ring 3-1 do not rotate relatively. The position sensor 6 comprises a gear ring and a detection head from inside to outside in the horizontal radial direction, and the gear ring is arranged flush with the lower end face of the detection head; wherein the gear ring is sleeved on the upper part 1-1 of the drive-by-wire independent steering actuating mechanism bracket 1 and is in friction connection with the upper part 1-1 of the bracket, the inner ring rotates along with the rotation of the bracket, and the detection head is fixed on the lower surface of the inner universal ring; the position sensor 6 is used for measuring the relative rotation angle of the steer-by-wire independent steering actuating mechanism bracket 1 and the position sensor, namely measuring the wheel rotation angle. When the vehicle turns, the motor transmits torque to the harmonic reducer, and the flexible wheel 4-2 of the reducer drives the wire control independent steering actuating mechanism support 1 to rotate around the axis of the motor, so as to drive the wheel 11 to deflect. (the bolts in FIGS. 4a-4d are shown in phantom, not specifically shown.)
3. The invention discloses a specific embodiment of combined use of a wire control independent steering actuating mechanism and a suspension: the suspension of the embodiment is a double wishbone suspension. As shown in fig. 5 and 7, the inner end of the lower control arm 9-3 is connected with the vehicle frame (or the load-bearing vehicle body) 10 through a bolt, the outer end is connected with the lower part 1-3 of the support of the drive-by-wire independent steering actuating mechanism through a ball pin 9-1, the spring shock absorber 9-2 is arranged on the lower control arm 9-1 at a certain angle through a bolt, and the other end is connected with the vehicle frame 10 (or the load-bearing vehicle body); one end of an upper control arm 9-4 is connected with a frame (or a bearing type vehicle body) 10 through a bolt, and the other end is connected with an outer universal ring 3 through a force transmission pin 3-4; the brake mechanism 8 comprises a brake disc 8-1, a hub assembly 8-2 and a brake caliper support 8-3, one side of the hub assembly 8-2 is fixed on one side close to the drive-by-wire independent steering actuating mechanism support 1 through bolts, the other side of the hub assembly is connected with the brake disc 8-1, and the brake caliper support 8-3 is connected with the lower portion 1-3 of the support through bolts. As shown in fig. 7, the steer-by-wire independent steering actuator bracket 1 is connected with wheels 11 through a brake assembly 8 and with a frame (or a vehicle body) 10 through a suspension assembly 9, and the connection relationship between the parts is shown by a dotted line.
4. The application example of the multiphase motor of the invention is as follows: as shown in fig. 6, the hardware architecture of the dual-drive steering motor and the controller adopts two sets of full-bridge driving circuits connected in parallel to control the multi-phase motor and the controller, and the multi-phase motor and the controller are internally provided with two sets of three-phase coils and share one motor and controller shell, so that the dual-drive steering motor and the controller are composed of two logically permanent magnet synchronous motors and controllers. In a conventional mode, two groups of three-phase drive bridges respectively provide 50% of assistance; when one group of three-phase drive bridge circuit or three-phase winding of one group of motor is damaged, the system control unit can make the three-phase drive bridge circuit in failure state be placed in closed state, and another drive bridge circuit can implement partial boosting function, at the same time can output fault alarm and can record and store correspondent fault so as to implement safety redundancy function.
It should be emphasized that the described embodiments of the present invention are illustrative rather than limiting and, thus, the present invention includes embodiments that are not limited to those described in the detailed description.
Claims (8)
1. A drive-by-wire independent steering actuating mechanism based on multiphase motor drive comprises a bracket, a steering motor, a controller, a speed reducer, a force sensor, a position sensor, a universal ring, a connecting piece and a fastening device, wherein the bracket is used for the drive-by-wire independent steering actuating mechanism; the wire control independent steering actuating mechanism support comprises an upper support part, a middle support part and a lower support part, wherein the upper support part is connected with a speed reducer upwards and is connected with a steering motor and a controller downwards; the torque sensor, the universal ring and the position sensor are sequentially arranged around the upper part of the bracket from top to bottom; the steering motor and the controller drive the wire-controlled independent steering actuating mechanism bracket to rotate around the axis of the steering motor to drive the wheels to deflect so as to steer the vehicle;
the method is characterized in that: the universal ring is used for protecting a motor and is divided into an inner universal ring and an outer universal ring, the inner universal ring and the outer universal ring are hinged through two force transmission pins, the inner universal ring is connected with the drive-by-wire independent steering actuating mechanism support, the outer universal ring is connected with a frame through the other two force transmission pins crossed with the outer universal ring, and when wheels jump up and down in the direction vertical to a road surface, the steering motor can swing along with the swinging of the universal ring.
2. The drive-by-wire independent steering actuator based on multi-phase motor drive according to claim 1, characterized in that: the upper part of the wire control independent steering actuating mechanism support is a circular truncated cone-shaped connecting mechanism, and a through hole for connecting a speed reducer is axially formed in the center of the circular truncated cone-shaped connecting mechanism; the middle part of the wire control independent steering actuating mechanism support is a downward extending motor peripheral protection device which can contain a motor and a controller, the motor peripheral protection device comprises two downward extending vertical arms, the lower part of the wire control independent steering actuating mechanism support is positioned below the two vertical arms and fixedly connected with the two vertical arms, the lower part of the support is a shaft connecting mechanism which can transversely penetrate or transversely connect a driving shaft or a driven shaft, and when the shaft connecting mechanism is used for a driving wheel, a through hole for transversely penetrating the driving shaft is formed in the center of the shaft connecting mechanism; when the shaft connecting mechanism is used for a driven wheel, a driven shaft short shaft is transversely fixedly connected to one side of the center of the shaft connecting mechanism, which is close to the wheel.
3. The drive-by-wire independent steering actuator based on multi-phase motor drive according to claim 1, characterized in that: the speed reducer is a harmonic speed reducer, and the horizontal radial direction of the harmonic speed reducer is respectively a speed reducer wave generator, a speed reducer flexible wheel and a speed reducer rigid wheel from inside to outside; the reducer wave generator positioned in the inner layer is longitudinally connected with the connecting piece through a fastening device; the flexible wheel of the speed reducer positioned in the radial middle layer is longitudinally connected with the upper part of the bracket of the drive-by-wire independent steering actuating mechanism through a fastening device; the speed reducer wave generator is the input end of the speed reducer, the flexible wheel of the speed reducer is the output end of the speed reducer, and the output end of the speed reducer is connected with the drive-by-wire independent steering actuating mechanism support, so that the drive-by-wire independent steering actuating mechanism support rotates around the axis of the steering motor to drive the wheels to steer.
4. The multi-phase motor drive-based steer-by-wire independent steering actuator according to claim 1, wherein the inner gimbal ring is symmetrically provided with a pair of through holes, the outer gimbal ring is also provided with a pair of through holes matched with the inner gimbal ring, and the inner gimbal ring and the outer gimbal ring are hinged through a force transmission pin connected with the two gimbal rings on the through holes; the outer universal ring is further crossly provided with another pair of through holes, the outer universal ring is hinged with the frame through two universal ring outer connecting force transmission pins, the inner universal ring is connected with the drive-by-wire independent steering actuating mechanism support through a force sensor at the upper end of the inner universal ring and a position sensor at the lower end of the inner universal ring, and when the wheels jump up and down, the drive-by-wire independent steering actuating mechanism support swings along with the swinging of the universal ring, so that the steering motor shaft is not influenced by radial force.
5. The multi-phase motor drive-based steer-by-wire independent steering actuator according to claim 1 or 4, wherein: the force sensor comprises an inner ring and an outer ring, the positions of the inner ring and the outer ring are fixed, the upper end surface of the inner ring of the force sensor is connected with a rigid wheel of the speed reducer, and a connecting bridge arm of the inner ring and the outer ring of the force sensor is provided with a strain gauge which is used for measuring tangential force and normal force transmitted to the force sensor by the speed reducer; the position sensor is also called as a rotation angle sensor, the rotation angle sensor comprises a gear ring and a detection head from inside to outside in the horizontal radial direction, and the gear ring is arranged flush with the lower end face of the detection head; wherein the gear ring is sleeved at the upper end of the bracket in a pressing way and rotates along with the rotation of the bracket, and the detection head is fixed on the lower surface of the inner universal ring; the inner universal ring is positioned below the force sensors, and the three sensors are connected through holes in the outer ring of the force sensors, holes in the inner universal ring, holes in the position sensor probe and screws.
6. The independent steer-by-wire actuator based on multiphase motor drive of claim 1, wherein said motor is a multiphase motor, two groups of multiphase coils are arranged in said multiphase motor, and share a housing, and said motor is composed of two logical permanent magnet synchronous motors.
7. The multi-phase motor drive-based steer-by-wire actuator according to claim 1, wherein the motor and the controller are integrated and located within a steer-by-wire actuator bracket, the motor housing is connected to the steer-by-wire actuator bracket, and the motor rotor is connected to the reducer via a connecting member.
8. The independent steer-by-wire actuator based on multi-phase motor drive of claim 6, wherein said multi-phase motor is in normal mode, two sets of multi-phase drive bridges each providing 50% torque; when one group of multiphase drive bridge circuit or one group of multiphase windings are damaged partially or completely, the controller can make the multiphase drive bridge circuit in failure state be switched into closed state, and another drive bridge circuit can implement steering function, at the same time can output fault alarm and can record and store correspondent fault.
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| DE102010054696B4 (en) * | 2010-12-16 | 2022-04-14 | Jungheinrich Aktiengesellschaft | Pedestrian-controlled industrial truck with electric steering |
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