CN111152835B - 一种基于双绕组电机的线控电液转向系统及混杂控制方法 - Google Patents
一种基于双绕组电机的线控电液转向系统及混杂控制方法 Download PDFInfo
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- CN111152835B CN111152835B CN202010030912.9A CN202010030912A CN111152835B CN 111152835 B CN111152835 B CN 111152835B CN 202010030912 A CN202010030912 A CN 202010030912A CN 111152835 B CN111152835 B CN 111152835B
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- 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
-
- 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
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- B62D5/0403—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 constructional features, e.g. common housing for motor and gear box
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010030912.9A CN111152835B (zh) | 2020-01-13 | 2020-01-13 | 一种基于双绕组电机的线控电液转向系统及混杂控制方法 |
US17/258,415 US11505241B2 (en) | 2020-01-13 | 2020-05-14 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
PCT/CN2020/090298 WO2021022863A1 (zh) | 2020-01-13 | 2020-05-14 | 一种基于双绕组电机的线控电液转向系统及混杂控制方法 |
EP20850637.8A EP3967573A4 (en) | 2020-01-13 | 2020-05-14 | CABLE-DRIVE ELECTRO-HYDRAULIC STEERING SYSTEM AND HYBRID CONTROL METHOD FOR DOUBLE-WINDED MOTOR |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010030912.9A CN111152835B (zh) | 2020-01-13 | 2020-01-13 | 一种基于双绕组电机的线控电液转向系统及混杂控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111152835A CN111152835A (zh) | 2020-05-15 |
CN111152835B true CN111152835B (zh) | 2020-11-06 |
Family
ID=70562763
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010030912.9A Active CN111152835B (zh) | 2020-01-13 | 2020-01-13 | 一种基于双绕组电机的线控电液转向系统及混杂控制方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11505241B2 (zh) |
EP (1) | EP3967573A4 (zh) |
CN (1) | CN111152835B (zh) |
WO (1) | WO2021022863A1 (zh) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111422251B (zh) * | 2020-05-25 | 2024-01-26 | 吉林大学 | 一种具有多种转向模式的无人驾驶汽车转向系统及其控制方法 |
CN111923996B (zh) * | 2020-07-07 | 2022-04-26 | 南京天航智能装备研究院有限公司 | 一种线控底盘多模式电液转向系统及控制方法 |
CN112654931B (zh) * | 2020-08-31 | 2022-05-13 | 华为技术有限公司 | 一种控制系统、控制方法、智能汽车以及装置 |
CN112660235A (zh) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | 冗余助力转向系统及其控制方法、以及车辆 |
CN112896298B (zh) * | 2021-02-22 | 2022-03-22 | 江苏大学 | 一种具有差速控制功能的线控转向容错装置及其控制方法 |
CN112918552B (zh) * | 2021-03-25 | 2022-03-08 | 福州大学 | 基于液压变压器的重型多轴车辆转向系统及其控制方法 |
CN113212534B (zh) * | 2021-04-20 | 2022-04-22 | 南京航空航天大学 | 一种多模式线控底盘系统及优化方法 |
CN113212547B (zh) * | 2021-06-11 | 2022-04-22 | 南京航空航天大学 | 一种商用车可变传动比电动转向系统及其控制方法 |
CN113247088B (zh) * | 2021-06-30 | 2023-02-24 | 中国第一汽车股份有限公司 | 一种具有冗余功能的线控转向装置及控制方法 |
CN113911205B (zh) * | 2021-11-22 | 2022-09-23 | 中国第一汽车股份有限公司 | 车辆及其线控转向控制系统、方法 |
CN113997919B (zh) * | 2021-12-15 | 2023-11-17 | 吉林大学 | 一种基于双绕组电机的线控电液制动耦合系统 |
CN114228824A (zh) * | 2021-12-27 | 2022-03-25 | 河南省高远公路养护技术有限公司 | 一种连续式纤维碎石同步封层车遥控转向系统及控制方法 |
CN114379643B (zh) * | 2022-01-21 | 2023-07-21 | 北京理工大学 | 一种具有应急转向功能的电液转向器及其匹配方法 |
CN114684093B (zh) * | 2022-02-17 | 2023-04-07 | 北京英创汇智科技有限公司 | 一种面向高级别自动驾驶的线控冗余制动系统 |
CN114537357A (zh) * | 2022-03-07 | 2022-05-27 | 北京英创汇智科技有限公司 | 用于无人驾驶汽车的双绕组线控冗余制动系统 |
CN114664144A (zh) * | 2022-03-21 | 2022-06-24 | 电子科技大学 | 一种面向人机共驾测评的驾驶模拟器高拟真触觉反馈系统 |
WO2023197197A1 (zh) * | 2022-04-13 | 2023-10-19 | 华为技术有限公司 | 一种转向控制装置、转向系统和汽车 |
CN114771645B (zh) * | 2022-05-12 | 2024-02-23 | 山东理工大学 | 一种电液组合自动转向装置及其控制方法 |
CN115195850A (zh) * | 2022-06-20 | 2022-10-18 | 成都中科微信息技术研究院有限公司 | 一种人工和无人双模并联线控转向系统和方法 |
CN115009357B (zh) * | 2022-06-30 | 2023-11-07 | 北京主线科技有限公司 | 车辆转向检测控制系统、方法、电子设备及存储介质 |
CN115158450B (zh) * | 2022-08-09 | 2023-11-10 | 一汽解放青岛汽车有限公司 | 一种汽车转向助力装置及转向助力控制方法 |
CN115257915A (zh) * | 2022-08-24 | 2022-11-01 | 合众新能源汽车有限公司 | 滑板底盘转向系统、滑板底盘及车辆 |
AT17931U1 (de) * | 2022-08-30 | 2023-08-15 | Wacker Neuson Linz Gmbh | Vorrichtung zum Lenken einer radbetriebenen mobilen Arbeitsmaschine |
CN116811994B (zh) * | 2023-06-30 | 2024-03-22 | 北京理工大学 | 一种智能车辆冗余转向系统及其控制方法 |
CN116985898B (zh) * | 2023-08-31 | 2024-01-30 | 北京理工大学 | 一种用于线控转向系统的角度伺服控制方法和装置 |
CN117341804B (zh) * | 2023-12-04 | 2024-02-23 | 上海集度汽车有限公司 | 线控转向系统、车辆、力反馈方法、装置及存储介质 |
CN117719591A (zh) * | 2024-02-08 | 2024-03-19 | 杭州世宝汽车方向机有限公司 | 一种适用于线控转向装置的液压机械备份系统及控制方法 |
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CN109774786B (zh) * | 2019-01-30 | 2024-04-12 | 南京航空航天大学 | 一种基于线控转向的多模式助力转向系统及其控制方法 |
-
2020
- 2020-01-13 CN CN202010030912.9A patent/CN111152835B/zh active Active
- 2020-05-14 US US17/258,415 patent/US11505241B2/en active Active
- 2020-05-14 EP EP20850637.8A patent/EP3967573A4/en active Pending
- 2020-05-14 WO PCT/CN2020/090298 patent/WO2021022863A1/zh unknown
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US7007769B2 (en) * | 2003-06-11 | 2006-03-07 | Nissan Motor Co., Ltd. | Fail-safe steering system for a vehicle |
CN104760612A (zh) * | 2015-03-09 | 2015-07-08 | 长安大学 | 一种双电机电动助力转向系统及其助力转向方法 |
CN207747931U (zh) * | 2017-12-15 | 2018-08-21 | 南京航空航天大学 | 一种双电机冗余线控转向装置 |
CN208007056U (zh) * | 2018-01-16 | 2018-10-26 | 郑州宇通客车股份有限公司 | 电动车辆及其转向助力系统、双源双绕组电机 |
CN109291991A (zh) * | 2018-12-01 | 2019-02-01 | 南京天航智能装备研究院有限公司 | 一种双电机线控复合转向系统及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2021022863A1 (zh) | 2021-02-11 |
EP3967573A4 (en) | 2022-09-07 |
EP3967573A1 (en) | 2022-03-16 |
US20220126910A1 (en) | 2022-04-28 |
US11505241B2 (en) | 2022-11-22 |
CN111152835A (zh) | 2020-05-15 |
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Application publication date: 20200515 Assignee: HANGZHOU SHIBAO AUTO STEERING GEAR Co.,Ltd. Assignor: Nanjing University of Aeronautics and Astronautics Contract record no.: X2023980052550 Denomination of invention: A wire controlled electro-hydraulic steering system and hybrid control method based on dual winding motors Granted publication date: 20201106 License type: Common License Record date: 20231219 |
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