CN111267946A - Dual-motor redundant electric power steering control method incorporating active steering control - Google Patents
Dual-motor redundant electric power steering control method incorporating active steering control Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及汽车控制系统技术领域，更具体地说，特别涉及一种融入主动转向控制的双电机冗余电动助力转向控制方法。The invention relates to the technical field of automobile control systems, and more particularly, to a dual-motor redundant electric power steering control method incorporating active steering control.
背景技术Background technique
近些年来，随着互联网技术的快速发展，大数据的应用以及集成控制的发展，自动驾驶已经成为现在汽车的发展方向。In recent years, with the rapid development of Internet technology, the application of big data and the development of integrated control, autonomous driving has become the development direction of today's automobiles.
在汽车的转向操控系统中，一般是通过转动方向盘，利用液压助力系统或者是电机助力系统驱动车轮转向的。无论是液压助力系统，还是电机助力系统，其都是仅设置有一个动力装置(液压泵或者电机)，一旦动力装置损坏，则直接造成车辆转向操控系统的瘫痪，严重地降低了车辆使用的可靠性。In the steering control system of the car, the steering wheel is generally driven by the hydraulic power system or the motor power system by turning the steering wheel. Whether it is a hydraulic booster system or a motor booster system, only one power unit (hydraulic pump or motor) is provided. Once the power unit is damaged, it will directly cause the paralysis of the steering control system of the vehicle, which will seriously reduce the reliability of the vehicle. sex.
发明内容SUMMARY OF THE INVENTION
(一)技术问题(1) Technical problems
综上所述，如何提高机动车转向系统使用的可靠性，成为了本领域技术人员亟待解决的问题。To sum up, how to improve the reliability of the vehicle steering system has become an urgent problem to be solved by those skilled in the art.
(二)技术方案(2) Technical solutions
本发明提供了一种融入主动转向控制的双电机冗余电动助力转向控制方法。The invention provides a dual-motor redundant electric power steering control method incorporating active steering control.
在本发明中：设置主控制系统以及辅助控制系统，并对应所述主控制系统设置主控电机以及主传感器，对应所述辅助控制系统设置辅助控制电机以及辅助传感器；由所述主控制系统获取当前车速信号并根据所述当前车速信号确定控制方案；由所述主控制系统获取所述主传感器获取的控制参数信号，由所述辅助控制系统获取所述辅助传感器获取的校对参数信号，将所述控制参数信号与所述校对参数信号进行比对，如果控制参数信号可信，则由所述主控制系统发出控制指令进行电动助力转向控制或主动转向控制。In the present invention, a main control system and an auxiliary control system are set, a main control motor and a main sensor are set corresponding to the main control system, and an auxiliary control motor and an auxiliary sensor are set corresponding to the auxiliary control system; obtained by the main control system The current vehicle speed signal and the control scheme are determined according to the current vehicle speed signal; the control parameter signal obtained by the main sensor is obtained by the main control system, the calibration parameter signal obtained by the auxiliary sensor is obtained by the auxiliary control system, and the The control parameter signal is compared with the calibration parameter signal, and if the control parameter signal is credible, the main control system sends a control command to perform electric power steering control or active steering control.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，将所述控制参数信号与所述校对参数信号进行比对，如果控制参数信号不可信，则将所述校对参数信号发送给所述主控制系统，并由所述主控制系统以及所述辅助控制系统同时对所述控制参数信号与所述校对参数信号进行比对；如果控制参数信号可信，则继续由所述主控制系统发出控制指令；如果控制参数信号仍然不可信，则由所述辅助控制系统将检测到的信号发送到所述主控制系统，由所述主控制系统来发送控制指令。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, the control parameter signal is compared with the calibration parameter signal, and if the control parameter signal is not credible, the The calibration parameter signal is sent to the main control system, and the main control system and the auxiliary control system compare the control parameter signal with the calibration parameter signal at the same time; if the control parameter signal is credible, Then continue to send control commands by the main control system; if the control parameter signal is still unreliable, the auxiliary control system will send the detected signal to the main control system, and the main control system will send the control command .
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，对所述主控制系统是否发生故障进行实时监测，如果所述主控制系统出现故障，则由所述辅助控制系统发出控制指令。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, whether the main control system fails is monitored in real time, and if the main control system fails, the The auxiliary control system sends out control commands.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，对所述主控电机是否发生故障进行实时监测，如果所述主控电机出现故障，则由所述辅助控制系统发出控制指令。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, whether the main control motor fails is monitored in real time, and if the main control motor fails, the The auxiliary control system sends out control commands.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，在所述主控电机以及所述主控制系统之间设置电流反馈，由所述主控制系统根据所述电流反馈进行控制指令的实时调整。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, a current feedback is set between the main control motor and the main control system, and the main control system is based on The current feedback performs real-time adjustment of control commands.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，如果电流反馈的电流信号大于所述主控制系统预存的控制阈值时，则由所述辅助控制系统发出控制指令。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, if the current signal fed back by the current is greater than the control threshold pre-stored by the main control system, the auxiliary control system will Issue control commands.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，由所述主控制系统通过CAN通信与车载控制模块通信连接，由所述主控制系统通过CAN通信与所述辅助控制系统通信连接实现信息共享、并形成双电机控制系统。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, the main control system communicates with the vehicle-mounted control module through CAN communication, and the main control system communicates through CAN The communication connection with the auxiliary control system realizes information sharing and forms a dual motor control system.
优选地，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，在车辆进入自动控制模式后：由所述双电机控制系统获取车辆速度以及目标转角角度，根据获取的所述车辆速度以及所述目标转角角度进行逻辑运算得到前馈电流信号；由所述双电机控制系统通过所述主传感器和/或所述辅助传感器获取方向盘的当前转角角度，并根据当前转角角度与目标转角角度之差进行分段PID控制，并输出反馈电流信号；所述前馈电流信号与所述反馈电流信号的和值为最终控制电流。Preferably, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, after the vehicle enters the automatic control mode: the dual-motor control system obtains the vehicle speed and the target angle of rotation, according to the obtained The speed of the vehicle and the target angle of rotation are logically calculated to obtain a feedforward current signal; the dual-motor control system obtains the current angle of the steering wheel through the main sensor and/or the auxiliary sensor, and according to the current angle The difference between the angle and the target angle of rotation is subjected to segmental PID control, and a feedback current signal is output; the sum of the feedforward current signal and the feedback current signal is the final control current.
(三)有益效果(3) Beneficial effects
本发明提供了一种融入主动转向控制的双电机冗余电动助力转向控制方法，在该方法中，本发明设置了主控制系统以及辅助控制系统两套转向控制系统，并对应主控制系统设置主控电机以及主传感器，对应辅助控制系统设置辅助控制电机以及辅助传感器；由主控制系统获取当前车速信号并根据当前车速信号确定控制方案；由主控制系统获取主传感器获取的控制参数信号，由辅助控制系统获取辅助传感器获取的校对参数信号，将控制参数信号与校对参数信号进行比对，如果控制参数信号可信，则由主控制系统发出控制指令进行电动助力转向控制或主动转向控制。The present invention provides a dual-motor redundant electric power steering control method incorporating active steering control. In the method, the present invention sets up two steering control systems, a main control system and an auxiliary control system, and sets a main control system corresponding to the main control system. Control the motor and main sensor, and set the auxiliary control motor and auxiliary sensor corresponding to the auxiliary control system; the main control system obtains the current vehicle speed signal and determines the control scheme according to the current vehicle speed signal; the main control system obtains the control parameter signal obtained by the main sensor, and the auxiliary control system The control system obtains the calibration parameter signal obtained by the auxiliary sensor, and compares the control parameter signal with the calibration parameter signal. If the control parameter signal is credible, the main control system sends a control command for electric power steering control or active steering control.
通过上述结构设计，在本发明所提供的融入主动转向控制的双电机冗余电动助力转向控制方法中，其提供了两套转向控制系统，在两套转向控制系统中，能够分别对机动车的转向进行控制，当其中一套发生故障时，另一套能够继续工作，保证车辆转向系统的正常工作，本发明提高了机动车转向系统使用的可靠性。Through the above structural design, in the dual-motor redundant electric power steering control method incorporating active steering control provided by the present invention, two sets of steering control systems are provided. Steering is controlled, and when one of the sets fails, the other can continue to work to ensure the normal operation of the vehicle steering system. The present invention improves the reliability of the vehicle steering system.
附图说明Description of drawings
图1为本发明一种实施例中改进后的机动车转向系统的结构示意图；1 is a schematic structural diagram of an improved steering system of a motor vehicle in an embodiment of the present invention;
图2为本发明一种实施例中电动助力转向系统控制框架的结构示意图；2 is a schematic structural diagram of a control frame of an electric power steering system in an embodiment of the present invention;
图3为本发明一种实施例中模式转换控制框架的结构示意图；3 is a schematic structural diagram of a mode switching control framework in an embodiment of the present invention;
图4为本发明一种实施例中双电机冗余控制策略框架的结构示意图；4 is a schematic structural diagram of a dual-motor redundant control strategy framework in an embodiment of the present invention;
在图1中，部件名称与附图编号的对应关系为：In Figure 1, the corresponding relationship between component names and drawing numbers is:
方向盘1、转向管柱2、辅助传感器3、辅助蜗轮蜗杆减速器4、
辅助电机5、中间轴6、主传感器7、主控制电机8、主控制系统9、主蜗轮蜗杆减速器10、辅助控制系统11、齿轮齿条转向器12。
具体实施方式Detailed ways
下面结合附图和实施例对本发明的实施方式作进一步详细描述。以下实施例用于说明本发明，但不能用来限制本发明的范围。The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.
在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”、“前端”、“后端”、“头部”、“尾部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, unless otherwise stated, "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer" The orientation or positional relationship indicated by , "front end", "rear end", "head", "tail", etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, not An indication or implication that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, is not to be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection. Ground connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.
请参考图1至图4，其中，图1为本发明一种实施例中改进后的机动车转向系统的结构示意图；图2为本发明一种实施例中电动助力转向系统控制框架的结构示意图；图3为本发明一种实施例中模式转换控制框架的结构示意图；图4为本发明一种实施例中双电机冗余控制策略框架的结构示意图。Please refer to FIGS. 1 to 4 , wherein, FIG. 1 is a schematic structural diagram of an improved steering system of a motor vehicle in an embodiment of the present invention; FIG. 2 is a structural schematic diagram of a control frame of an electric power steering system in an embodiment of the present invention 3 is a schematic structural diagram of a mode conversion control framework in an embodiment of the present invention; FIG. 4 is a structural schematic diagram of a dual-motor redundant control strategy framework in an embodiment of the present invention.
本发明提供了一种融入主动转向控制的双电机冗余电动助力转向控制方法，在该方法中，本发明对机动车转向系统进行了结构改进，即增设一套辅助控制系统以及一个辅助控制电机，配合原主控制系统以及主控制电机，实现双控制、双电机转向助力的结构。The present invention provides a dual-motor redundant electric power steering control method incorporating active steering control. In the method, the present invention improves the structure of the vehicle steering system, that is, an auxiliary control system and an auxiliary control motor are added. , cooperate with the original main control system and main control motor to realize the structure of dual control and dual motor steering assist.
在本实施例中，本发明共设置有两套控制系统，分别为：主控制系统以及辅助控制系统，对应主控制系统设置主控电机以及主传感器，对应辅助控制系统设置辅助控制电机以及辅助传感器。In this embodiment, the present invention is provided with two sets of control systems, respectively: a main control system and an auxiliary control system, the main control motor and the main sensor are set corresponding to the main control system, and the auxiliary control motor and the auxiliary sensor are set corresponding to the auxiliary control system. .
本发明改进后，其转向系统构成如下：包括有方向盘1、转向管柱2、辅助传感器3(即扭矩转角传感器)，两套蜗轮蜗杆减速器，分别为主蜗轮蜗杆减速器10以及辅助蜗轮蜗杆减速器4、辅助电机5、中间轴6、主传感器7(即扭矩转角传感器)、主控制电机8、主控制系统9、辅助控制系统11、齿轮齿条转向器12。After the improvement of the present invention, its steering system is constituted as follows: including a
在正常使用状态下，靠下方的电机为主控电机8，即靠近齿轮齿条转向器12设置的电机为主控电机。转向柱上方的电机为辅助电机5。In a normal use state, the lower motor is the
由主控制系统获取当前车速信号并根据当前车速信号确定控制方案，其中控制方案为在实验室制定好的方案，其可以根据车速控制方向盘的转向辅助力。The main control system obtains the current vehicle speed signal and determines the control scheme according to the current vehicle speed signal, wherein the control scheme is a scheme formulated in the laboratory, which can control the steering assist force of the steering wheel according to the vehicle speed.
由主控制系统获取主传感器获取的控制参数信号，由辅助控制系统获取辅助传感器获取的校对参数信号，将控制参数信号与校对参数信号进行比对，如果控制参数信号可信，则由主控制系统发出控制指令进行电动助力转向控制或主动转向控制。The control parameter signal obtained by the main sensor is obtained by the main control system, the calibration parameter signal obtained by the auxiliary sensor is obtained by the auxiliary control system, and the control parameter signal is compared with the calibration parameter signal. Issue control commands for electric power steering control or active steering control.
本发明为双电机冗余电动助力转向系统，其在实现EPS的功能的基础上，增强冗余安全功能及转向稳定性，又加上了自动驾驶中的转向角控制的主动转向策略。其中，辅助转向控制单元进行辅助驾驶控制，通过双控制器配合调节，发出电流指令控制电动机驱动，电动机对转向系统进行辅助助力控制以及转向控制，实现助力。主动转向和辅助转向融合，驾驶员进行模式转换，可以在驾驶上实现二者状态互换，主动控制单元在自动驾驶模式实现主动转向功能，上层策略发送转角位置信号，通过控制器进行逻辑运算出电流指令值，在自动模式下，驱动电动机执行转向位置控制实现主动转向。The present invention is a dual-motor redundant electric power steering system, which enhances redundant safety function and steering stability on the basis of realizing the function of EPS, and adds an active steering strategy of steering angle control in automatic driving. Among them, the auxiliary steering control unit performs assisted driving control. Through the coordination of the dual controllers, it sends a current command to control the motor drive, and the motor performs auxiliary power assist control and steering control on the steering system to achieve power assistance. The fusion of active steering and assisted steering, the driver switches the mode, and the state of the two can be exchanged in driving. The active control unit realizes the active steering function in the automatic driving mode. Current command value, in automatic mode, drive the motor to perform steering position control to achieve active steering.
进一步地，将控制参数信号与校对参数信号进行比对，如果控制参数信号不可信，则将校对参数信号发送给主控制系统，并由主控制系统以及辅助控制系统同时对控制参数信号与校对参数信号进行比对；如果控制参数信号可信，则继续由主控制系统发出控制指令；如果控制参数信号仍然不可信，则由辅助控制系统发出控制指令。Further, the control parameter signal is compared with the calibration parameter signal, if the control parameter signal is not credible, then the calibration parameter signal is sent to the main control system, and the control parameter signal and the calibration parameter are simultaneously checked by the main control system and the auxiliary control system. The signals are compared; if the control parameter signal is credible, the main control system will continue to issue control instructions; if the control parameter signal is still unreliable, the auxiliary control system will issue control instructions.
本发明还具有如下三个判断方式：The present invention also has the following three judgment modes:
1、对主控制系统是否发生故障进行实时监测，如果主控制系统出现故障，则由辅助控制系统发出控制指令；1. Real-time monitoring of whether the main control system fails, if the main control system fails, the auxiliary control system will issue control instructions;
2、对主控电机是否发生故障进行实时监测，如果主控电机出现故障，则由辅助控制系统发出控制指令；2. Real-time monitoring of whether the main control motor fails, if the main control motor fails, the auxiliary control system will issue a control command;
3、在主控电机以及主控制系统之间设置电流反馈，由主控制系统根据电流反馈进行控制指令的实时调整。3. Set current feedback between the main control motor and the main control system, and the main control system will adjust the control command in real time according to the current feedback.
在第三种方式中，如果电流反馈的电流信号大于主控制系统预存的控制阈值时，则由辅助控制系统发出控制指令。In the third mode, if the current signal fed back by the current is greater than the control threshold value pre-stored by the main control system, the auxiliary control system will issue a control command.
具体地，由主控制系统通过CAN通信与车载控制模块通信连接，由主控制系统通过CAN通信与辅助控制系统通信连接实现信息共享、并形成双电机控制系统。Specifically, the main control system communicates with the vehicle-mounted control module through CAN communication, and the main control system communicates with the auxiliary control system through CAN communication to realize information sharing and form a dual-motor control system.
本发明还能够实现自动驾驶模式向驾驶员手动控制方式两种模式。在车辆进入自动控制模式后：由双电机控制系统获取车辆速度以及目标转角角度，根据获取的车辆速度以及目标转角角度进行逻辑运算得到前馈电流信号；由双电机控制系统通过主传感器和/或辅助传感器获取方向盘的当前转角角度，并根据当前转角角度与目标转角角度之差进行分段PID控制，并输出反馈电流信号；前馈电流信号与反馈电流信号的和值为最终控制电流。The present invention can also realize two modes of automatic driving mode to the driver's manual control mode. After the vehicle enters the automatic control mode: the dual-motor control system obtains the vehicle speed and the target corner angle, and performs logical operations on the obtained vehicle speed and target corner angle to obtain a feedforward current signal; the dual-motor control system obtains the feedforward current signal through the main sensor and/or The auxiliary sensor obtains the current angle of the steering wheel, performs segmental PID control according to the difference between the current angle and the target angle, and outputs a feedback current signal; the sum of the feedforward current signal and the feedback current signal is the final control current.
本发明的工作原理：汽车启动，驾驶员转动方向盘，方向盘安装在转向管柱上，本发明中所使用的扭矩转角传感器用于测量方向盘转向力矩的大小以及转动角度，获取的信号可以发给相对应的控制系统上。主控制系统根据车速传感器传来的车速信号，通过预先设置好的控制算法分析为主控制单机8提供合适的电流，进而准确地驱动主控制电机8进行工作，并根据反馈电流实时调节电流大小，此时辅助电机5不工作。主控制电机8的输出扭矩经减速机构的作用下为转向器提供转向助力。The working principle of the invention: the car starts, the driver turns the steering wheel, the steering wheel is installed on the steering column, the torque angle sensor used in the invention is used to measure the steering torque and the rotation angle of the steering wheel, and the obtained signal can be sent to the phase on the corresponding control system. According to the vehicle speed signal sent by the vehicle speed sensor, the main control system analyzes the pre-set control algorithm to provide a suitable current for the
整个控制策略有两路CAN通讯，主控制系统与整车连接一路CAN通讯，保证通信速率，另一路主辅两个控制系统通过CAN通讯来保证数据的实时同步。The whole control strategy has two channels of CAN communication. The main control system is connected to the vehicle with one channel of CAN communication to ensure the communication rate, and the other channel of the main and auxiliary control systems ensures the real-time synchronization of data through CAN communication.
情况一、主控制系统将其接收的控制参数信号以及工作状态通过CAN通讯发送辅助控制系统，辅助控制系统将此信号与其接收的校对参数信号进行校验，对比之后若控制参数信号可信，则不做额外操作；否则将校对参数信号由辅助控制系统发给主控制子系统，同时检测彼此是否正常工作运行，又可根据两路电信号，实时调节电机电流大小，使转向助力更加精确；当在转向过程中，车载主模块检测到主控制系统故障或者主控制系统接收到主控电机的反馈电流超过设定电流值以及检测到主控电机发生故障时，主控电机停止工作，此时辅助控制系统可完全代替主控制系统驱动辅助电机进行助力。
主动转向功能采用转角闭环控制，设计“前馈+反馈控制”模式。将车辆速度传感器传来的速度信号和自动驾驶发送的目标转角指令进入主控制器13，其通过CAN通讯将信号和指令以及工作状态发送给辅助控制器14，二者通过“前馈通道”中由车辆实验测定二维查表插值，得到目标与车速、转向角的关系进行运算，得到电流值Iq1，同时“反馈通道”中的转角传感器测得的实际转角与目标转角指令之差进行分段PID控制，循环控制电机驱动转向，直到实际转角与目标转角偏差小于预定值，积分清零，输出控制电流Iq2，二者之和即为最终电机控制电流Iq，通过上述过程，从而控制驱动转向电机快速准确地执行控制器给出的转向角指令，实现车辆的转向功能。通过冗余设计，提高了转向助力的灵敏性、精确性以及操纵稳定性，增加主动转向，进一步提高和保证电动助力转向系统的安全性，实现了双层保障。The active steering function adopts the closed-loop control of the corner, and the "feedforward + feedback control" mode is designed. The speed signal from the vehicle speed sensor and the target angle command sent by the automatic driving are entered into the main controller 13, which sends the signal, command and working status to the auxiliary controller 14 through CAN communication, and the two pass through the "feedforward channel". The two-dimensional look-up table interpolation is measured by the vehicle experiment, and the relationship between the target and the vehicle speed and steering angle is obtained, and the current value Iq1 is obtained. PID control, cyclically control the motor to drive the steering until the deviation between the actual rotation angle and the target rotation angle is less than the predetermined value, the integral is cleared, and the output control current Iq2, the sum of the two is the final motor control current Iq, through the above process, thereby controlling the driving steering motor Quickly and accurately execute the steering angle command given by the controller to realize the steering function of the vehicle. Through redundant design, the sensitivity, accuracy and handling stability of power steering are improved, active steering is increased, and the safety of the electric power steering system is further improved and guaranteed, and a double-layer guarantee is realized.
基于上述的融入主动转向控制的双电机冗余电动助力转向控制方法，本发明对传统的机动车转向系统进行了如下优化：Based on the above-mentioned dual-motor redundant electric power steering control method incorporating active steering control, the present invention optimizes the traditional vehicle steering system as follows:
机动车转向系统包括有方向盘，与方向盘连接有一根方向盘转向轴，在方向盘转向轴的设置有转向管柱，转向管柱相对于车架固定安装，在转向管柱的下端设置辅助传感器，用于感知方向盘转向轴(方向盘)的动作，主要是转动角度以及转向力矩，在辅助传感器的下方设置中间轴、辅助蜗轮蜗杆减速器以及辅助电机，由中间轴、辅助蜗轮蜗杆减速器以及辅助电机构成一套辅助转向动力总成，在转向器上端的减速器和电机上设置主传感器，通过主传感器感知中间轴的动作，在主传感器的下方设置主控制电机、主控制系统以及主蜗轮蜗杆减速器，由主控制电机以及主蜗轮蜗杆减速器构成一套主转向动力总成，由主转向动力总成驱动车轮转向。The steering system of a motor vehicle includes a steering wheel, a steering wheel steering shaft is connected with the steering wheel, a steering column is arranged on the steering shaft of the steering wheel, the steering column is fixedly installed relative to the frame, and an auxiliary sensor is arranged at the lower end of the steering column for the purpose of Sensing the action of the steering wheel steering shaft (steering wheel), mainly the rotation angle and steering torque, the intermediate shaft, auxiliary worm gear reducer and auxiliary motor are arranged below the auxiliary sensor, which consists of the intermediate shaft, auxiliary worm gear reducer and auxiliary motor. Set the auxiliary steering powertrain, set the main sensor on the reducer and motor at the upper end of the steering gear, and sense the action of the intermediate shaft through the main sensor, and set the main control motor, the main control system and the main worm gear reducer below the main sensor. The main control motor and the main worm gear reducer constitute a set of main steering powertrain, and the main steering powertrain drives the wheel steering.
本发明对于机动车转向系统的上述结构改进，一个方向盘对应设置两套转向动力总成，并且，通过主传感器、主控制系统、辅助传感器以及辅助控制系统实现了两套转向动力总成的联合作业，当其中一套转向动力总成出现故障时，并不会影响另一套转向动力总成进行工作，由此，本发明极大程度地提高了转向系统使用的可靠性，大幅度地提高了驾驶的安全性。The present invention improves the above-mentioned structure of the steering system of a motor vehicle. One steering wheel is correspondingly provided with two sets of steering powertrains, and the joint operation of the two sets of steering powertrains is realized through the main sensor, the main control system, the auxiliary sensor and the auxiliary control system. , when one set of steering powertrain fails, it will not affect the other set of steering powertrain to work. Therefore, the present invention greatly improves the reliability of the use of the steering system, and greatly improves the performance of the steering system. driving safety.
本发明的实施例是为了示例和描述起见而给出的，而并不是无遗漏的或者将本发明限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显而易见的。选择和描述实施例是为了更好说明本发明的原理和实际应用，并且使本领域的普通技术人员能够理解本发明从而设计适于特定用途的带有各种修改的各种实施例。The embodiments of the present invention are presented for purposes of illustration and description, and are not intended to be exhaustive or to limit the invention to the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use.
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