CN110588771A - Electric control steering device and control method thereof - Google Patents
Electric control steering device and control method thereof Download PDFInfo
- Publication number
- CN110588771A CN110588771A CN201911017174.8A CN201911017174A CN110588771A CN 110588771 A CN110588771 A CN 110588771A CN 201911017174 A CN201911017174 A CN 201911017174A CN 110588771 A CN110588771 A CN 110588771A
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- CN
- China
- Prior art keywords
- steering
- motor
- driven gear
- gear
- steering device
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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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
- B62D5/0409—Electric motor acting on the steering column
- B62D5/0412—Electric motor acting on the steering column the axes of motor and steering column being parallel
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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
- B62D5/043—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
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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
- B62D5/0442—Conversion of rotational into longitudinal movement
Abstract
The invention discloses an electric control steering device and a control method thereof. The utility model provides an automatically controlled steering device, includes steering wheel, the steering column of being connected with the steering wheel, characterized by: still include spacing dish, motor drive mechanism, spacing dish suit is in on the steering column, motor drive mechanism include the driving gear, with driving gear engaged with driven gear, motor, driven gear rotationally sets up on the spacing dish and with the steering column is coaxial, the steering wheel with driven gear passes through the connecting rod and connects, the driving gear with the motor passes through electromagnetic clutch and connects, the motor is connected with machine controller, be provided with the spacing district of a no tooth on the driven gear. The invention can conveniently realize automatic steering by utilizing the motor driving mechanism, can realize torque increase by utilizing the gear reduction mechanism, can effectively exert the motor characteristics, can provide excellent steering performance, and has simple structure and convenient control.
Description
Technical Field
The invention relates to a steering device, in particular to an electric control steering device. The invention also relates to a control method of the electric control steering device
Background
At present, the steering device of the road or non-road mobile machinery and the vehicle adopts a motor to directly drive a steering column to rotate, but the steering device has large torque, the motor characteristic can not be effectively exerted, the low-speed large-torque motor has high cost, the steering limit is realized by an angle sensor, the structure is complex, the intelligent power exchange can not be realized, and the steering is heavy when the steering device fails.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides an electric power steering apparatus having excellent steering performance.
The invention is realized by the following technical scheme: the utility model provides an automatically controlled steering device, includes steering wheel, the steering column of being connected with the steering wheel, characterized by: still include spacing dish, motor drive mechanism, spacing dish suit is in on the steering column, motor drive mechanism include the driving gear, with driving gear engaged with driven gear, motor, driven gear rotationally sets up on the spacing dish and with the steering column is coaxial, the steering wheel with driven gear passes through the connecting rod and connects, the driving gear with the motor passes through electromagnetic clutch and connects, the motor is connected with machine controller, be provided with the spacing district of a no tooth on the driven gear.
When the steering mechanism is used, the lower part of the steering column is connected with a transmission shaft and a universal joint of a steering gear, and finally is connected with a front axle through a steering swing arm. In the invention, the motor drives the driven gear engaged with the motor to rotate through the driving gear, and the driven gear drives the steering wheel and the steering column to rotate through the connecting rod connected with the driven gear, thereby realizing steering. The motor controller is used for controlling the positive and negative rotation of the motor. When the steering operation needs to be manually performed, the electromagnetic clutch is turned off, so that the manual steering operation can be performed. The toothless limiting area arranged on the driven gear can limit the maximum steering angle, and the self-protection function of the maximum rotation angle motor is achieved.
Further, a fixed limiting plate used for fixing the motor is fixedly connected to the motor. The motor may be fixed to a member of the vehicle through the fixing limit plate.
Furthermore, the length of the toothless limit area corresponds to the maximum steering angle.
Furthermore, the driven gear is mounted on the limiting disc through a bearing.
The invention also provides a control method of the electric power steering device, which adopts the technical scheme that: the control method comprises the following steps:
(1) judging a steering angle according to the meshing position of the driven gear (9), namely judging the steering angle of a front wheel, and automatically correcting before starting;
(2) according to the path planning, the VCU sends a signal to the MCU through the servo unit, and the MCU executes a left steering instruction or a right steering instruction;
(3) the motor rotates forwards or backwards according to the instruction of the motor controller MCU to drive the steering shaft to steer;
(4) the method comprises the steps that corner signals are collected through an angle sensor arranged near wheels of a front axle and transmitted to a VCU of a vehicle control unit in real time, so that a steering strategy is formulated;
(5) the maximum steering angle is controlled by a toothless limit area (91) of the driven gear (9), and the steering can be continuously realized at the maximum steering angle to obtain the minimum turning radius;
(6) and after the steering is finished, the motor controller executes an automatic return strategy, quickly returns according to the rotating track, and executes the next cycle operation.
The invention has the beneficial effects that: the steering column is connected with the motor driving mechanism, automatic steering can be conveniently realized by using the motor driving mechanism, and the steering column is simple in structure and convenient to control. The motor driving mechanism is adopted for steering, torque can be increased through the gear reduction mechanism, the motor characteristics can be effectively exerted, and excellent steering performance can be provided. The driven gear is provided with the toothless limiting area, so that the steering can be conveniently limited, and the structure is simple. By adopting the electromagnetic clutch to be connected with the motor, automatic and manual intelligent switching can be conveniently carried out, and when a manual steering mode or electric steering failure is adopted, the electromagnetic clutch is disconnected, so that steering is light and fast.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is a schematic view of the construction of the driven gear in the present invention;
FIG. 4 is a control route diagram of the present invention;
in the figure, the steering wheel 1, the steering wheel 2, the connecting rod 3, the motor driving mechanism 4, the electromagnetic clutch 5, the motor 51, the motor controller 6, the steering column 7, the limiting disc 8, the bearing 9, the driven gear 91, the toothless limiting area 10, the driving gear 11, the fixed limiting plate 12 and the angle sensor.
Detailed Description
The invention will now be further illustrated by way of non-limiting examples in conjunction with the accompanying drawings:
as shown in the attached drawings, the electric control steering device comprises a steering wheel 1, a steering column 6 connected with the steering wheel 1, a limiting disc 7 and a motor driving mechanism. The limiting disc 7 is arranged on the lower portion of the steering wheel 1, and the limiting disc 7 is sleeved on the steering column 6. Motor drive mechanism include driving gear 3, with driving gear 3 engaged with driven gear 9, motor 5, driven gear 9 rotationally sets up through bearing 8 on the spacing dish 7 and with the coaxial setting of steering column 6, steering wheel 1 with driven gear 9 is connected through many connecting rods 2, driving gear 3 with motor 3 passes through electromagnetic clutch 4 and is connected, motor 3 is connected with machine controller 51. A toothless limit area 91 without gear teeth is arranged on the gear ring of the driven gear 9. The length of the toothless stop zone 91 is determined according to the maximum steering angle, which corresponds to the maximum steering angle.
For the convenience of fixing the motor, a fixed limit plate 11 for fixing the motor 5 is fixedly connected to the motor 5. The motor 5 can be fixed to a member of the vehicle by fixing the stopper plate 11.
When the angle sensor is used, the angle sensor 12 is arranged near the wheels of the front axle, and the angle sensor 12 is connected with the controller. The lower part of the steering column 6 is connected with a transmission shaft and a universal joint of a steering gear and finally connected with a front axle through a steering swing arm.
In the steering process, before the front axle reaches the limit area, the front axle stops rotating when receiving a signal of a position sensor of the front axle according to an instruction sent by the angle sensor. And after the steering is finished, the VCU of the vehicle control unit sends a signal to the MCU, the motor rotates reversely, the steering wheel returns, or other steering operations are executed.
The torque can be increased through a gear reduction device of the motor driving mechanism, excellent steering performance can be provided, and a toothless limiting area on the driven gear is calculated as a steering maximum angle, so that the self-protection function of the maximum rotation angle motor is achieved. The motor can realize left steering or right steering by positive and negative rotation, the steering return has a memory function, the limiting angle is certain, and the steering can return automatically according to the rotating track after the steering.
When the steering operation is manually executed, the electromagnetic clutch can be automatically disconnected, so that the steering is ensured to be the same as the traditional mechanical type, and the labor is saved.
The integrated electric control steering device has the advantages of simple structure, convenience in operation and low cost, the 4G function can be expanded, and the remote control is realized by networking with remote operation and maintenance management.
The electric control steering device is controlled by adopting the following method:
(1) judging a steering angle according to the meshing position of the driven gear (9), namely judging the steering angle of a front wheel, and automatically correcting before starting;
(2) according to the path planning, the VCU sends a signal to the MCU through the servo unit, and the MCU executes a left steering instruction or a right steering instruction;
(3) the motor rotates forwards or backwards according to the instruction of the motor controller MCU to drive the steering shaft to steer;
(4) the method comprises the steps that corner signals are collected through an angle sensor arranged near wheels of a front axle and transmitted to a VCU of a vehicle control unit in real time, so that a steering strategy is formulated;
(5) the maximum steering angle is controlled by a toothless limit area (91) of the driven gear (9), and the steering can be continuously realized at the maximum steering angle to obtain the minimum turning radius;
(6) and after the steering is finished, the motor controller executes an automatic return strategy, quickly returns according to the rotating track, and executes the next cycle operation.
Other parts in this embodiment are the prior art, and are not described herein again.
Claims (5)
1. The utility model provides an automatically controlled steering device, includes steering wheel (1), steering column (6) be connected with steering wheel (1), characterized by: still include spacing dish (7), motor drive mechanism, spacing dish (7) suit is in on steering column (6), motor drive mechanism include driving gear (3), with driven gear (9), motor (5) of driving gear (3) engaged with, driven gear (9) rotationally set up on spacing dish (7) and with steering column (6) are coaxial, steering wheel (1) with driven gear (9) are connected through connecting rod (2), driving gear (3) with motor (3) are connected through electromagnetic clutch, motor (3) are connected with motor controller (51), be provided with a spacing district of no tooth (91) on driven gear (9).
2. The electrically controlled steering device according to claim 1, wherein: the motor (5) is fixedly connected with a fixed limit plate (11) used for fixing the motor (5).
3. The electrically controlled steering device according to claim 1 or 2, characterized in that: the length of the toothless limit area (91) corresponds to the maximum steering angle.
4. The electrically controlled steering device according to claim 1 or 2, characterized in that: the driven gear (9) is mounted on the limiting disc (7) through a bearing.
5. A control method of an electrically controlled steering device according to any one of claims 1 to 4, characterized by: the control method comprises the following steps:
(1) judging a steering angle according to the meshing position of the driven gear (9), namely judging the steering angle of a front wheel, and automatically correcting before starting;
(2) according to the path planning, the VCU sends a signal to the MCU through the servo unit, and the MCU executes a left steering instruction or a right steering instruction;
(3) the motor rotates forwards or backwards according to the instruction of the motor controller MCU to drive the steering shaft to steer;
(4) the method comprises the steps that corner signals are collected through an angle sensor arranged near wheels of a front axle and transmitted to a VCU of a vehicle control unit in real time, so that a steering strategy is formulated;
(5) the maximum steering angle is controlled by a toothless limit area (91) of the driven gear (9), and the steering can be continuously realized at the maximum steering angle to obtain the minimum turning radius;
(6) and after the steering is finished, the motor controller executes an automatic return strategy, quickly returns according to the rotating track, and executes the next cycle operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017174.8A CN110588771A (en) | 2019-10-24 | 2019-10-24 | Electric control steering device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911017174.8A CN110588771A (en) | 2019-10-24 | 2019-10-24 | Electric control steering device and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110588771A true CN110588771A (en) | 2019-12-20 |
Family
ID=68851504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911017174.8A Pending CN110588771A (en) | 2019-10-24 | 2019-10-24 | Electric control steering device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110588771A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498469A (en) * | 2020-11-26 | 2021-03-16 | 武汉光庭科技有限公司 | Automatic steering device for engineering machinery direction |
| CN114506381A (en) * | 2020-11-17 | 2022-05-17 | 比亚迪股份有限公司 | Turn to stop gear and vehicle |
| CN115320702A (en) * | 2022-08-18 | 2022-11-11 | 梅里科技(广州)有限公司 | Manual and automatic steering seamless switching control device |
Citations (7)
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|---|---|---|---|---|
| US20060006020A1 (en) * | 2004-07-06 | 2006-01-12 | Nissan Motor Co., Ltd. | Vehicle steering control system |
| CN101758855A (en) * | 2010-02-01 | 2010-06-30 | 中国科学院合肥物质科学研究院 | Steering gear of unmanned vehicle and control method thereof |
| CN204680307U (en) * | 2015-06-17 | 2015-09-30 | 古朴 | A kind of stop means emulating automobile driving simulator bearing circle |
| CN206841510U (en) * | 2017-04-28 | 2018-01-05 | 鄂尔多斯市普渡科技有限公司 | It is a kind of can free switching driving model pilotless automobile steering mechanism |
| CN109455219A (en) * | 2018-09-29 | 2019-03-12 | 合肥工业大学 | A kind of wire-controlled steering system steering wheel with limiting device and limit method |
| CN110104054A (en) * | 2019-05-10 | 2019-08-09 | 河海大学常州校区 | A kind of mechanical steering control device |
| CN210912590U (en) * | 2019-10-24 | 2020-07-03 | 山东时风（集团）有限责任公司 | Electric control steering device |
-
2019
- 2019-10-24 CN CN201911017174.8A patent/CN110588771A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060006020A1 (en) * | 2004-07-06 | 2006-01-12 | Nissan Motor Co., Ltd. | Vehicle steering control system |
| CN101758855A (en) * | 2010-02-01 | 2010-06-30 | 中国科学院合肥物质科学研究院 | Steering gear of unmanned vehicle and control method thereof |
| CN204680307U (en) * | 2015-06-17 | 2015-09-30 | 古朴 | A kind of stop means emulating automobile driving simulator bearing circle |
| CN206841510U (en) * | 2017-04-28 | 2018-01-05 | 鄂尔多斯市普渡科技有限公司 | It is a kind of can free switching driving model pilotless automobile steering mechanism |
| CN109455219A (en) * | 2018-09-29 | 2019-03-12 | 合肥工业大学 | A kind of wire-controlled steering system steering wheel with limiting device and limit method |
| CN110104054A (en) * | 2019-05-10 | 2019-08-09 | 河海大学常州校区 | A kind of mechanical steering control device |
| CN210912590U (en) * | 2019-10-24 | 2020-07-03 | 山东时风（集团）有限责任公司 | Electric control steering device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506381A (en) * | 2020-11-17 | 2022-05-17 | 比亚迪股份有限公司 | Turn to stop gear and vehicle |
| CN114506381B (en) * | 2020-11-17 | 2022-12-09 | 比亚迪股份有限公司 | Turn to stop gear and vehicle |
| CN112498469A (en) * | 2020-11-26 | 2021-03-16 | 武汉光庭科技有限公司 | Automatic steering device for engineering machinery direction |
| CN115320702A (en) * | 2022-08-18 | 2022-11-11 | 梅里科技(广州)有限公司 | Manual and automatic steering seamless switching control device |
| CN115320702B (en) * | 2022-08-18 | 2023-12-08 | 梅里科技(广州)有限公司 | Manual and automatic steering seamless switching control device |
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