CN110606125B - System and method for checking position of steering wheel - Google Patents
System and method for checking position of steering wheel Download PDFInfo
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- CN110606125B CN110606125B CN201910615157.8A CN201910615157A CN110606125B CN 110606125 B CN110606125 B CN 110606125B CN 201910615157 A CN201910615157 A CN 201910615157A CN 110606125 B CN110606125 B CN 110606125B
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- steering wheel
- angle value
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- lock pin
- tooth groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
- B62D15/022—Determination of steering angle by measuring on the steering column on or near the connection between the steering wheel and steering column
Abstract
The invention provides a system and a method for checking the position of a steering wheel, wherein the system for checking the position of the steering wheel comprises the following components: the fluted disc is provided with a plurality of tooth grooves, and magnetic elements are arranged in the tooth grooves at intervals; the locking mechanism is arranged in the side wall of the steering wheel pipe column and corresponds to a fluted disc of the steering wheel; the locking mechanism comprises a lock pin with a Hall element, and the lock pin is clamped into the tooth groove when the system is powered off; and the detection device is connected with the Hall element and is used for verifying the corresponding turning angle value of the position of the steering wheel according to the output signal of the Hall element when the system is electrified again. The invention effectively ensures the one-to-one corresponding relation between the positions of the steering wheel and the positions of the wheels after the system is restarted after power failure, completes the position verification of the steering wheel at the moment of power on, simplifies the verification process and improves the verification precision.
Description
Technical Field
The invention belongs to the field of hydraulic steering, and relates to a system and a method for checking the position of a steering wheel.
Background
With the wide application of low-speed heavy-duty vehicles such as engineering vehicles and special operation vehicles in various industries, the operation production efficiency is improved and the production cost is reduced. The existing low-speed heavy-load working vehicle adopts a hydraulic steering system due to the special chassis arrangement structure and the torque requirement of the working environment on the steering system.
The inevitable leakage in the hydraulic system causes that the steering wheel and the steering wheel of the low-speed heavy-load vehicle cannot be in one-to-one correspondence, so that an operator cannot accurately steer when driving the vehicle, and great threats are brought to the safety of the low-speed heavy-load vehicle and the operator. The hydraulic synchronous steering system can realize the one-to-one correspondence between the steering wheel and the steering wheel of the vehicle, and constantly ensures the steering intention of a driver, thereby reducing the driving difficulty of the operator and improving the driving precision.
In the hydraulic synchronous steering system, when the vehicle flameout synchronous steering system is in a power-off process, if a steering wheel rotates, the position signal record of the steering wheel is lost, so that the corresponding relation between the steering wheel and the wheel position is changed, the operation difficulty of a driver is increased, and even the safety of the vehicle and the driver is threatened. Therefore, the verification of the position of the steering wheel after the hydraulic steering system is powered off and restarted is the key for realizing hydraulic synchronous steering,
disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a system and a method for checking a position of a steering wheel, which are used to solve the problem in the prior art that the corresponding relationship between the positions of the steering wheel and wheels is changed due to the loss of the position signal record of the steering wheel caused by the rotation of the steering wheel during the power-off process.
To achieve the above and other related objects, the present invention provides a steering wheel position checking system, comprising:
the fluted disc is provided with a plurality of tooth grooves, and magnetic elements are arranged in the tooth grooves at intervals;
the locking mechanism is arranged in the side wall of the steering wheel pipe column and corresponds to a fluted disc of the steering wheel; the locking mechanism comprises a lock pin with a Hall element, and the lock pin is clamped into the tooth groove when the system is powered off;
and the detection device is connected with the Hall element and is used for verifying the corresponding turning angle value of the position of the steering wheel according to the output signal of the Hall element when the system is electrified again.
In an embodiment of the present invention, the locking mechanism further includes a driving element and an elastic element connecting the driving element and the lock pin, the driving element pulls the lock pin to be placed in the side wall when the system is powered on, and the elastic element is compressed.
In an embodiment of the invention, the driving element is an electromagnetic relay, an air cylinder or a hydraulic cylinder.
In an embodiment of the invention, when the driving element is an electromagnetic relay, one side of the lock pin is fixedly connected with an armature, and the electromagnetic relay is connected with the armature through an elastic element.
In an embodiment of the invention, when the driving element is an air cylinder or a hydraulic cylinder, a push rod of the driving element is connected to the lock pin, and the elastic element is sleeved outside the push rod.
In an embodiment of the invention, the elastic element is a spring or rubber.
In an embodiment of the invention, the magnetic element is a magnetic sheet.
The invention also provides a method for checking the position of the steering wheel, which comprises the following steps:
s1, recording a corresponding turning angle value n1 of the position of the steering wheel when the system is powered off by the detection device;
s2, determining an initial tooth groove of a fluted disc corresponding to a lock pin of the locking mechanism and a steering wheel rotating angle value n2 of the initial tooth groove,
s3, selecting an adjacent tooth slot of the initial tooth slot along the rotation direction of the fluted disc, and obtaining a steering wheel rotation angle value n3 corresponding to the adjacent tooth slot;
s4, the lock pin is clamped in the tooth groove of the fluted disc, the system is electrified and restarted, and the detection device reads the rotation angle value n1 corresponding to the position of the steering wheel in the last power-off process, the rotation angle value n2 of the steering wheel in the initial tooth groove and the rotation angle value n3 of the steering wheel in the adjacent tooth groove again;
and S5, detecting the output signal of the Hall element, determining the tooth groove in which the lock pin is clamped, and obtaining the verified steering wheel angle value.
In an embodiment of the present invention, the step of determining the tooth space into which the locking mechanism is inserted and obtaining the steering wheel angle value corresponding to the tooth space includes:
s51, detecting the output signal of the Hall element,
and S52, respectively judging whether the initial tooth groove and the adjacent tooth groove are provided with magnetic elements.
In an embodiment of the present invention, the step of determining the tooth space into which the locking mechanism is inserted and obtaining the steering wheel angle value corresponding to the tooth space further includes:
s53, when the initial tooth grooves are provided with magnetic elements and the output of the Hall elements has no voltage change, determining that the tooth grooves into which the locking mechanisms are clamped are adjacent tooth grooves, and checking that the steering wheel angle value n is n 3;
and S54, when the initial tooth slot is not provided with a magnetic element and the output of the Hall element has voltage change, determining that the tooth slot in which the locking mechanism is clamped is an adjacent tooth slot, and the verified steering wheel rotation angle value n is n3, otherwise, the verified steering wheel rotation angle value n is n 2.
As described above, the invention can determine the corresponding rotation angle value of the steering wheel position when the system is electrified and restarted, effectively ensure the one-to-one corresponding relation between the steering wheel position and the wheel position after the system is electrified and restarted, complete the calibration of the steering wheel position at the moment of electrification, simplify the calibration process and improve the calibration precision.
Meanwhile, after the system is powered off, the locking mechanism locks the steering wheel, so that the steering wheel cannot rotate freely after the power is off to protect a hydraulic system, and the rotation amplitude of the steering wheel after the power is off is effectively limited.
In addition, the invention can utilize the time delay of the driving element to finish the calibration of the position of the steering wheel, and because the time delay is very short, a driver can not feel stuck when using the steering wheel after the system is powered on.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic synchronous steering system to which the present invention is applied.
Fig. 2 is a schematic view showing the installation position of the steering wheel angle sensor.
Fig. 3 is a schematic structural diagram of a steering wheel position checking system according to the present invention.
Fig. 4 is a schematic structural diagram of the driving element of the steering wheel position checking system of the present invention, which is an electromagnetic relay.
Fig. 5 is a schematic structural diagram of a driving element of the steering wheel position checking system according to the present invention, which is an air cylinder.
Fig. 6 is a schematic flow chart of a steering wheel position checking method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The hydraulic steering system is widely applied to low-speed heavy-load vehicles such as engineering machinery, forklifts, tractors, combine harvesters and the like. The steering wheel checking system is suitable for a hydraulic synchronous steering system, the hydraulic synchronous steering system can realize one-to-one correspondence between a vehicle steering wheel and steering wheels, and the steering intention of a driver is ensured constantly, so that the driving difficulty of an operator is reduced, and the driving precision is improved.
For convenience of understanding, in the embodiment, a hydraulic synchronous steering system of a low-speed heavy-load vehicle is provided, and referring to fig. 1, a forklift is taken as an example. The hydraulic synchronous steering system comprises an oil tank 1, an oil pump 2, a flow stabilizing valve 3, a steering system overflow valve 4, a full hydraulic steering gear 5, a one-way valve 6 and a steering oil cylinder 9; the steering shaft 20 of the full hydraulic steering gear 5 is connected with the steering wheel 14 through the steering wheel, and as shown in fig. 2, a steering wheel column 21 is sleeved outside the steering shaft 20, and the steering wheel column 21 does not rotate along with the steering shaft 20.
Further, a steering angle sensor 13 is attached to a steering shaft 20 of the steering wheel 14, and the steering angle sensor 13 rotates with the steering wheel 14 to detect a steering angle value and a turning direction of the steering wheel 14. The rotation angle sensor 13 may be a photoelectric rotation angle sensor, and the sensor dial 131 of the rotation angle sensor 13 is fitted around the steering shaft 20. In a manner that is easily understood by those skilled in the art, the steering angle sensor may be composed of a photocoupler, a perforated grooved plate, or the like. The photoelectric coupling element is a light emitting diode and a photosensitive transistor. The open-cell slot plate is arranged between the light-emitting diode and the photosensitive transistor. The perforated slotted plate has a plurality of small holes. When the steering wheel 14 is turned, the slotted plate follows the turning. The phototransistor operates according to light passing through the aperture plate and outputs a digital pulse signal. In the present embodiment, it is assumed that the clockwise direction is positive, and a rotation of the steering wheel 14 can generate 360 pulse numbers, one pulse number represents that the steering wheel rotation angle value is 1 °, and the steering wheel rotation angle value recorded by the steering angle sensor is cleared when the wheels are turned back in the power-on condition.
The hydraulic synchronous steering system further includes a compensation mechanism that enables a one-to-one correspondence between the vehicle steering wheel 14 and the steered wheels, the compensation mechanism including a first solenoid valve 7, a first throttle valve 8, a second solenoid valve 12, and a second throttle valve 11; the port a of the first electromagnetic valve 7 and the port a1 of the second electromagnetic valve 12 are connected in parallel and are communicated with a P oil inlet of the full hydraulic steering gear 5 through a one-way valve 6; the first throttle valve 8 is connected in series with the port b of the first electromagnetic valve 7, and the outlet of the first throttle valve 8 is respectively communicated with the left working cavity of the steering oil cylinder 9 and a working oil port of the full hydraulic steering gear 5; the second throttle valve 11 is connected in series with the b1 port of the second electromagnetic valve 12, and the outlet of the second throttle valve 11 is respectively communicated with the right working chamber of the steering oil cylinder 9 and a working oil port of the full hydraulic steering gear 5. When the hydraulic steering system works, the flow entering the steering oil cylinder 9 from the first electromagnetic valve 7 is adjusted through the first throttle valve 8; the flow entering the steering oil cylinder 9 from the second electromagnetic valve 12 is adjusted through the second throttle valve 11; the power-on operation or power-off operation stop of the first solenoid valve 7 and the second solenoid valve 12 is determined according to the difference between the rotation angles of the wheel rotation angle potentiometer 10 and the rotation angle sensor 13.
In the embodiment of the invention, the position of the steering wheel is verified at the moment of electrifying the system by the system for verifying the position of the steering wheel, so that the verification process is simplified and the verification precision is improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a steering wheel position checking system. This steering wheel position verification system includes:
a locking mechanism mounted in a side wall of the steering column 21. The locking mechanism comprises a mechanism body and a lock pin 212 connected with the mechanism body, a mounting hole 211 for the locking mechanism to be placed is formed in the steering wheel column 21, and the mechanism body can drive the lock pin 212 to reciprocate left and right in the direction shown in the figure.
The chain ring 22 is sleeved on the steering shaft 20 of the steering wheel 14, and the chain ring 22 is disposed corresponding to the locking mechanism. The chain plate 22 may be fixedly coupled to the steering shaft 20 by a fastener such as a bolt, so that the chain plate 22 can rotate synchronously with the steering shaft 20.
When the locking pin 212 is pushed out of the mounting hole 211, it will be engaged in the tooth groove of the tooth plate 22 opposite to it. The gear plate 22 has a plurality of tooth grooves, in this embodiment, when the hydraulic synchronous steering system is powered off, the mechanism body pushes the lock pin 212 to be locked in the tooth groove of the gear plate 22, and when the system is powered on again, the mechanism body drives the lock pin 212 to reset. Thus, after the system is powered off, the locking mechanism locks the steering wheel 14, so that the steering wheel 14 can not rotate freely after the system is powered off to protect a hydraulic system, and the rotation amplitude of the steering wheel 14 after the system is powered off is effectively limited.
Because the lock pin 212 is arranged corresponding to one tooth groove at the moment of system power failure, but is not timely clamped into the tooth groove, and the lock pin 212 is delayed in the process of being pushed out from the mounting hole 211 to be clamped into the tooth groove, the tooth groove corresponding to the lock pin 212 is inconsistent at the moment of power failure and in the two states of clamping the lock pin 212, meanwhile, the position of the steering wheel recorded in the system is changed when the lock pin 212 is clamped into the tooth groove, or the steering wheel 14 has certain steering at the moment of power failure of the system, and the rotating distance of the steering wheel 14 is approximately one tooth because the delay time of the lock pin 212 is short. Thus, in this embodiment, after the system is powered up again, the position of the steering wheel is verified.
In this embodiment, magnetic elements are disposed at intervals in a plurality of tooth grooves on the tooth plate 22 (in fig. 3, the thick solid lines in the gear contour line of the tooth plate 22 indicate the magnetic elements), and the magnetic elements are disposed at intervals, in this embodiment, the magnetic elements are magnetic sheets, and the magnetic sheets can be directly adhered to the surfaces of the tooth grooves, or fixed to the surfaces of the tooth grooves by using fasteners, such as screws, bolts, and the like, the tooth grooves have two tooth groove surfaces, and the magnetic sheets can be mounted on both the surfaces of the tooth grooves, or the magnetic sheets can be mounted on only one of the surfaces of the tooth grooves. In order to determine the tooth grooves to which the magnetic elements are mounted, the tooth grooves on the toothed disc 22 are numbered, and the magnetic elements are corresponding to the numbers of the tooth grooves.
Meanwhile, the latch 212 is provided with a hall element 213, specifically, the latch 212 may be provided with a groove for mounting the hall element 213, and the calibration system further includes a detection device connected to the hall element 213, and the detection device includes a voltage detection device. In this embodiment, the hall element 213 may be a linear hall element 95A, the hall element 213 has three pins, a first pin is connected to the positive electrode of a power supply 218 through a power line, a second pin is connected to the negative electrode of the power supply 218 through a power line, the power supply 218 is an automobile power supply, or the power supply 218 is additionally installed on the steering wheel column 21, the third pin of the hall element 213 is connected to the input terminal of a voltage detection device through a signal line, and the output terminal of the voltage detection device is connected to the second pin, so as to detect the output voltage of the hall element 213, and the detection device may be directly integrated in the electronic control unit of the automobile.
At the moment of system power failure, the tooth slot corresponding to the lock pin 212 is an initial tooth slot, one tooth slot of the initial tooth slot and the adjacent tooth slot is provided with a magnetic element, when the lock pin 212 is clamped into the tooth slot with the magnetic element, a Hall effect occurs between the Hall element 213 and the magnetic element, once the system is electrified again, the Hall element 213 can output a high level, the voltage of the high level is changed, on the contrary, when the lock pin 212 is clamped into the tooth slot without the magnetic element, the output voltage of the Hall element 213 is not changed after the system is electrified, so that the tooth slot in which the lock pin 212 is clamped can be judged, the position of the steering wheel is finally determined, and the verification is completed.
In this embodiment, the mechanism body drives the lock pin 212 to retract into the mounting hole 211 and to snap into the tooth slot according to the power-on and power-off of the system, and further, the mechanism body includes a driving element 215 and an elastic element 214 connecting the driving element 215 and the lock pin 212, and the elastic element 214 may be a spring or rubber. The driving element 215 provides driving force to the locking pin 212, when the system is powered on, the driving element 215 drives the locking pin 212 to retract into the mounting hole 211, meanwhile, the elastic element 214 is compressed, the steering wheel 14 can rotate freely, and when the system is powered off, the locking pin 212 is pushed to be clamped into the tooth socket under the action of the elastic element 214.
In one embodiment, the driving element 215 may be an electromagnetic relay 216, and as shown in fig. 4, an armature 217 may be fixed to one side of the lock pin 212, the electromagnetic relay 216 is connected to the armature 217 through a resilient element 214, such as a spring, when the system is powered on, the magnetic attraction between the electromagnetic relay 216 and the armature 217 causes the lock pin 212 to be fixed in the mounting hole 211, the resilient element 214 is in a compressed state, when the system is powered off, the magnetic attraction between the electromagnetic relay 216 and the armature 217 disappears, and when the resilient element 214 is powered off, the lock pin 212 is pushed out to be snapped into the tooth groove of the toothed disc 22, so as to lock the toothed disc 22.
In another embodiment, the driving element 215 may use a cylinder or a hydraulic cylinder, as shown in fig. 5, the cylinder is taken as an example for illustration, and the cylinder is a linear reciprocating cylinder according to the linear motion of the lock pin 212, the cylinder is mainly composed of a piston, a cylinder 219, and a push rod 2191, the input end of the cylinder 219 of the cylinder is connected to an external air source, the push rod 2191 is fixedly connected to the lock pin 212, meanwhile, an elastic element 214 is sleeved outside the push rod 2191, the elastic element 214 can connect the cylinder body of the cylinder and the lock pin 212, when the system is powered on, the cylinder acts to push the push rod 2191 towards a side away from the toothed disc 22, so as to drive the lock pin 212 to retract into the mounting hole 211, and the elastic element 214 is compressed, and when the system is powered off, under the acting force of the elastic element 214, the lock pin 212 is pushed out to be clamped.
Of course, the driving member 215 can also adopt other structures, such as a motor, which drives the lock pin 212 to retract the mounting hole 211 through a connecting rod, and the lock pin 212 can be snapped into the tooth slot when the system is powered off, so that the invention can also have various changes and modifications to realize the reciprocating motion of the lock pin 212 without departing from the spirit and scope of the invention, and the changes and modifications are all within the scope of the claimed invention.
The embodiment also provides a steering wheel position verification method based on the steering wheel position verification system, as shown in fig. 6, the verification method mainly utilizes elements such as an electromagnetic relay and an air source/power source of an air cylinder/a hydraulic cylinder to be not electrified at the moment of electrifying the system, so that after the system is restarted and electrified, a locking mechanism drives a lock pin to retract, and the time delay is utilized to verify the position of the steering wheel.
The steering wheel position verification method mainly comprises the following steps:
s1, recording the rotation angle value n corresponding to the position of the steering wheel when the system is powered off by the detection device1。
S2, determining an initial tooth groove of a gear disc corresponding to a lock pin of the locking mechanism and a steering wheel rotation angle value n2 of the initial tooth groove.
And S3, selecting adjacent tooth grooves of the initial tooth grooves along the rotation direction of the fluted disc, and obtaining the steering wheel rotation angle value n3 corresponding to the adjacent tooth grooves.
It should be noted that, when the system is not powered off, the steering wheel angle value is collected by the detection device, the detection device obtains the data pulse signal output by the steering angle sensor, the detection device may be directly integrated in the electronic control unit of the vehicle, the detection device records the corresponding angle value of the system steering wheel position according to the data pulse signal, and according to the number of tooth slots on the tooth disk, because the shape of the tooth slot is substantially trapezoidal, each tooth slot has a corresponding angle value range, and at the same time, the corresponding angle value of the bottom of the tooth slot can be determined.
For convenience of understanding, in the present embodiment, as shown in the drawing, the tooth disc is uniformly provided with 24 tooth sockets, the rotation direction is clockwise, one tooth socket is selected and numbered as tooth socket a1, and the tooth sockets are sequentially numbered along the clockwise direction of the tooth disc as tooth socket a2, tooth socket a3 and tooth socket a4..
Therefore, according to the number of the tooth grooves, in the first turn, the rotation angle value range corresponding to the tooth groove a1 is determined to be 0-20, the rotation angle value range corresponding to the tooth groove a2 is determined to be 21-40, the rotation angle value range corresponding to the tooth groove a3 is determined to be 41-60, and the process is repeated until the tooth groove a24 is obtained.
Meanwhile, the lock pin of the tooth groove a1 is arranged corresponding to the bottom of the tooth groove a1 when the steering wheel angle value is 10, so that when the lock pin is clamped into the tooth groove a1, the steering wheel position corresponding angle value is 10, and the steering wheel angle value of the tooth groove a1 bottom corresponding to the lock pin in the second circle is 370, accordingly, other tooth grooves can determine the corresponding steering wheel angle value according to the position on the tooth disc, for example, the steering wheel angle of the tooth groove a2 adjacent to the tooth groove a1 in the clockwise direction is 30. The tooth grooves, the steering wheel angle values and the angle ranges of the tooth grooves form a mapping table, and the mapping table can be stored in a memory of the detection device.
In addition, because the magnetic elements are arranged in the tooth grooves of the fluted disc at intervals, the mapping table also comprises the corresponding relation of the number of the magnetic elements and the number of the tooth grooves, for example, the magnetic elements are arranged in the tooth grooves with the odd number.
Therefore, when the steering wheel rotation angle value is 15 when the system is powered off, the steering wheel rotation angle value is determined to be within the rotation angle value range of the tooth space a1 according to the mapping table, the lock pin corresponds to the tooth space a1, the tooth space a1 serves as an initial tooth space, the steering wheel rotation angle value of the tooth space a1 serves as the steering wheel rotation angle value n2 of the initial tooth space, if the rotation direction is clockwise, the tooth space a2 serves as an adjacent tooth space, and the steering wheel rotation angle value of the tooth space a2 serves as the steering wheel rotation angle value n3 of the adjacent tooth space.
S4, the lock pin is blocked in the tooth groove of the fluted disc, the system is electrified and restarted, and the rotation angle value n1 corresponding to the position of the steering wheel in the last power-off process and the rotation angle value n of the steering wheel in the initial tooth groove can be read again through the detection device2The steering wheel angle value n of the adjacent tooth grooves3。
And S5, detecting the output voltage of the Hall element, determining the tooth slot in which the lock pin is clamped, and obtaining the verified steering wheel angle value. Specifically, the step S5 mainly includes the following steps:
and S51, detecting the output signal of the Hall element, directly collecting the output signal of the Hall element by a voltage detection device in the detection device, and judging whether the output voltage of the Hall element changes.
And S52, respectively judging whether the initial tooth groove and the adjacent tooth groove are provided with magnetic elements. The method comprises the following steps: after the initial tooth socket and the adjacent tooth socket are determined, the tooth socket where the magnetic element is located can still be determined according to a mapping table in the detection device.
Because the magnetic element is close to the Hall element, the Hall effect can be generated, and the tooth socket for the locking pin to be clamped can be further determined according to the voltage output by the Hall element.
S53, when the initial tooth groove is provided with a magnetic element and the output of the Hall element has no voltage change, determining that the tooth groove in which the locking mechanism is clamped is an adjacent tooth groove, and checking the steering wheel angle value n to be n3；
S54, when the initial tooth grooves are not provided with magnetic elements and the output of the Hall elements has voltage change, determining that the tooth grooves in which the locking mechanisms are clamped are adjacent tooth grooves, and checking that the steering wheel angle value n is equal to n3Otherwise, the verified steering wheel angleThe value n being n2。
When the system is powered on, the driving element is powered on to start operation, the lock pin is driven to retract into the mounting hole, the checking method can finish the checking of the position of the steering wheel by using the delay of the driving element, and a driver cannot feel that the steering wheel is stuck after the system is powered on due to the short delay time.
The method can determine the corresponding turning angle value of the steering wheel position at the moment, effectively ensures the one-to-one correspondence relationship between the steering wheel position and the wheel position after the hydraulic synchronous steering system is powered off and restarted, completes the calibration of the steering wheel position at the moment of power-on, simplifies the calibration process and improves the calibration precision.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A steering wheel position verification system, comprising:
the fluted disc is provided with a plurality of tooth grooves, and magnetic elements are arranged in the tooth grooves at intervals;
the locking mechanism is arranged in the side wall of the steering wheel pipe column and corresponds to a fluted disc of the steering wheel; the locking mechanism comprises a lock pin with a Hall element, and the lock pin is clamped into the tooth groove when the system is powered off;
the detection device is connected with the Hall element,
the detection device is used for recording the rotation angle value n1 corresponding to the position of the steering wheel when the system is powered off,
determining an initial tooth groove of a fluted disc corresponding to the lock pin and a steering wheel rotating angle value n2 of the initial tooth groove,
selecting an adjacent tooth groove of the initial tooth groove along the rotation direction of the fluted disc, and obtaining a steering wheel rotation angle value n3 corresponding to the adjacent tooth groove;
when the lock pin is clamped into the tooth groove of the fluted disc, the system is electrified and restarted, and the detection device reads a steering angle value n1 corresponding to the position of the steering wheel when the power is cut off last time, a steering wheel angle value n2 of the initial tooth groove and a steering wheel angle value n3 of the adjacent tooth groove again;
the output signal of the hall element is detected,
respectively judging whether the initial tooth socket and the adjacent tooth socket are provided with magnetic elements;
when the initial tooth socket is provided with a magnetic element and the output of the Hall element has no voltage change, determining that the tooth socket clamped by the locking mechanism is an adjacent tooth socket, and checking that the steering wheel angle value n is n 3;
when the initial tooth socket is not provided with a magnetic element and the output of the Hall element has voltage change, the tooth socket in which the locking mechanism is clamped is determined to be an adjacent tooth socket, and the verified steering wheel rotation angle value n is n3, otherwise, the verified steering wheel rotation angle value n is n 2.
2. The steering wheel position verification system of claim 1, wherein: the locking mechanism further comprises a driving element and an elastic element which is connected with the driving element and the lock pin, the driving element pulls the lock pin to be placed in the side wall when the system is powered on, and the elastic element is pressed.
3. The steering wheel position verification system of claim 2, wherein: the driving element is an electromagnetic relay, an air cylinder or a hydraulic cylinder.
4. The steering wheel position verification system of claim 3, wherein: when the driving element is an electromagnetic relay, one side of the lock pin is fixedly connected with an armature, and the electromagnetic relay is connected with the armature through an elastic element.
5. The steering wheel position verification system of claim 3, wherein: when the driving element is an air cylinder or a hydraulic cylinder, a push rod of the driving element is connected with the lock pin, and the elastic element is sleeved outside the push rod.
6. The steering wheel position verification system of claim 2, 4 or 5, wherein: the elastic element is a spring or rubber.
7. The steering wheel position verification system of claim 1, wherein: the magnetic element is a magnetic sheet.
8. A method for checking the position of a steering wheel is characterized in that: the steering wheel position verification method comprises the following steps:
s1, the detecting device records the corresponding turning angle value n of the steering wheel position when the system is powered off1；
S2, determining an initial tooth groove of a fluted disc corresponding to a lock pin of the locking mechanism and a steering wheel angle value n of the initial tooth groove2，
S3, selecting adjacent tooth grooves of the initial tooth grooves along the rotation direction of the fluted disc, and obtaining the steering wheel rotation angle value n corresponding to the adjacent tooth grooves3；
S4, the lock pin is clamped in the tooth groove of the fluted disc, the system is electrified and restarted, and the detection device reads the rotation angle value n corresponding to the position of the direction disc when the power is cut off last time again1The steering wheel angle value n of the initial tooth space2The steering wheel angle value n of the adjacent tooth grooves3；
S5, detecting the output signal of the Hall element, determining the tooth space clamped by the lock pin and obtaining the steering wheel angle value after verification, determining the tooth space clamped by the locking mechanism and obtaining the steering wheel angle value corresponding to the tooth space, specifically comprising the following steps:
s51, detecting the output signal of the Hall element,
s52, respectively judging whether the initial tooth socket and the adjacent tooth socket are provided with magnetic elements;
s53, when the initial tooth groove is provided with a magnetic element and the output of the Hall element has no voltage change, determining that the tooth groove in which the locking mechanism is clamped is an adjacent tooth groove, and checking the steering wheel angle value n to be n3；
S54, when the initial tooth grooves are not provided with magnetic elements and the output of the Hall elements has voltage change, determining that the tooth grooves in which the locking mechanisms are clamped are adjacent tooth grooves, and checking that the steering wheel angle value n is equal to n3Otherwise, the verified steering wheel angle value n is equal to n2。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910615157.8A CN110606125B (en) | 2019-07-09 | 2019-07-09 | System and method for checking position of steering wheel |
| PCT/CN2020/100542 WO2021004441A1 (en) | 2019-07-09 | 2020-07-07 | Steering wheel position checking system and checking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910615157.8A CN110606125B (en) | 2019-07-09 | 2019-07-09 | System and method for checking position of steering wheel |
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| CN110606125A CN110606125A (en) | 2019-12-24 |
| CN110606125B true CN110606125B (en) | 2020-10-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606125B (en) * | 2019-07-09 | 2020-10-16 | 合肥工业大学 | System and method for checking position of steering wheel |
| CN112150721A (en) * | 2020-09-25 | 2020-12-29 | 北京骑胜科技有限公司 | Detection method, lockset, vehicle and storage medium |
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| CN202449061U (en) * | 2011-12-21 | 2012-09-26 | 浙江吉利汽车研究院有限公司 | Detecting device for position of steering wheel |
| DE102013100068A1 (en) * | 2013-01-07 | 2014-07-10 | Zf Lenksysteme Gmbh | Torque sensor device for steering system for determining guidance moment during steering movement of rider in vehicle, has outer ring provided with circumferential securing unit for securing guide element, which is connected to housing |
| CN106533277A (en) * | 2016-12-28 | 2017-03-22 | 北京新能源汽车股份有限公司 | Calibration method and device for rotation zero-point position of motor |
| CN108860291A (en) * | 2018-06-01 | 2018-11-23 | 北京汽车股份有限公司 | A kind of wheel steering system and the vehicle with it |
| CN109334762A (en) * | 2018-11-12 | 2019-02-15 | 江苏罗思韦尔电气有限公司 | A kind of system and method linearly turned to |
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| Publication number | Publication date |
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| CN110606125A (en) | 2019-12-24 |
| WO2021004441A1 (en) | 2021-01-14 |
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