CN111688789A - Steering system of double-steering-wheel instruction car - Google Patents
Steering system of double-steering-wheel instruction car Download PDFInfo
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- CN111688789A CN111688789A CN202010446149.8A CN202010446149A CN111688789A CN 111688789 A CN111688789 A CN 111688789A CN 202010446149 A CN202010446149 A CN 202010446149A CN 111688789 A CN111688789 A CN 111688789A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—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
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering system of a double-steering-wheel instructional car, which utilizes the original double-steering-wheel system to reserve a main steering wheel system, a steering engine assembly, an auxiliary steering wheel system and a steering reverser of a learner. The electric booster is additionally arranged on the transverse connecting rod and used for judging the current steering state of the vehicle in real time, and when the situation that a copilot coach is detected to intervene in steering emergently is detected, the controller determines the target current of the driving motor according to the boosting characteristic curve stored in the controller, drives the motor and provides proper boosting torque for steering of a copilot end; the controller does not detect the intervention of the auxiliary driving, when the vehicle is normally steered by a main driving student, the controller does not output current, does not drive a motor, does not output torque, and ensures that the steering of the main driving is not influenced; or the controller outputs certain compensation current to compensate the larger friction resistance brought by the double-steering wheel system, so that the main driving direction is light.
Description
Technical Field
The invention relates to a steering system of a double-steering-wheel instruction car.
Background
The basic principle of the double-steering-wheel control system of the learner-driven vehicle is that a coach can correct misoperation of a learner on operating a main steering wheel at a main driving position at any time through the auxiliary steering wheel at the auxiliary driving position through linkage of the two steering wheels, so that accidents caused by misoperation of the learner on driving the learner-driven vehicle are avoided, and the safety of the learner in learning the driving process of the vehicle is improved.
In order to ensure that the trainee can effectively correct the error of the trainee in the steering process, the trainee needs to operate the auxiliary steering wheel to keep synchronous with the main steering wheel at the copilot position, the torque applied to the steering engine by the auxiliary steering wheel is far larger than that of the main steering wheel, and the load generated by a copilot system is reduced as much as possible when the trainee drives the trainee correctly.
Disclosure of Invention
The invention aims to provide a steering system of a double-steering-wheel instructional car, which utilizes the original double-steering-wheel system and reserves a main steering wheel system, a steering engine assembly, an auxiliary steering wheel system and a steering reverser of a student. The electric booster is additionally arranged on the transverse connecting rod and used for judging the current steering state of the vehicle in real time, and when the situation that a copilot coach is detected to intervene in steering emergently is detected, the controller determines the target current of the driving motor according to the boosting characteristic curve stored in the controller, drives the motor and provides proper boosting torque for steering of a copilot end; the controller does not detect the intervention of the auxiliary driving, when the vehicle is normally steered by a main driving student, the controller does not output current, does not drive a motor, does not output torque, and ensures that the steering of the main driving is not influenced; or the controller outputs certain compensation current to compensate the larger friction resistance brought by the double-steering wheel system, so that the main driving direction is light.
The technical scheme adopted by the invention for realizing the purpose is as follows: the steering system of the double-steering wheel instructional car comprises a main steering wheel system, an auxiliary steering wheel system and an electric booster,
the electric booster comprises an input shaft, an output shaft, a worm wheel, a worm, a torsion bar, a motor and a sensor, wherein the input shaft and the output shaft are respectively connected to an auxiliary steering wheel system and a main steering wheel system through a left connecting rod and a right connecting rod; the worm wheel and worm speed reducing mechanism acts on the output shaft; the output of the motor is connected with the worm, and the worm and the gear are used for reducing speed and increasing torque to generate an assisting torque; a sensor is arranged between the input shaft and the output shaft to measure steering torque; the controller is electrically connected with the motor and the sensor;
the left connecting rod is connected with the steering gear, and the right connecting rod is connected with the steering reverser.
Further, the main steering wheel and the sub-steering wheel are arranged according to a ratio of 1: the angular speed of 1 is synchronous, the syntropy rotates, and the motor increases the torsion through the worm gear speed reduction, produces the helping hand moment of torsion and will guarantee that the rotation moment of torsion of vice steering wheel acts on 8 ~ 10 times of main steering wheel rotation moment of torsion in the direction machine.
Further, the sensor is a torque sensor or a torque sensor plus an angle sensor.
Furthermore, the controller mainly comprises a signal acquisition module, a data processing module, a motor driving and controlling module, and the signal acquisition module acquires data such as an ignition signal, a vehicle speed signal, an engine rotating speed signal, a CAN bus, a power supply voltage, a torque signal, a corner signal, a motor current, a motor terminal voltage and the like; the data processing module is used for calculating and analyzing each data of the signal acquisition module; and the motor driving and controlling module controls the motor according to the data processing result.
And the controller further comprises a fault diagnosis module which judges whether the system has faults or not according to the result of the data processing part, stops power assistance or limits power assistance according to the severity level of the faults when the faults occur, and simultaneously lights a fault indicator lamp to store fault information.
Further, when no angle sensor is provided, the controller judges whether the copilot is involved in steering or not by detecting a torque signal, and when the absolute value of the torque is detected to be larger than a set threshold value, the controller judges that the copilot is involved in steering, wherein the threshold value is determined according to a friction resistance torque value of a steering system at the copilot end, and the threshold value needs to be set to be slightly larger than a friction assisting torque value; when the absolute value of the detected torque is smaller than or equal to a set threshold value, judging that the copilot is not involved in steering;
when the situation that the vehicle is subjected to assistant driving intervention steering is judged, the controller determines a target current according to an assistant characteristic curve stored in the controller, drives a motor and provides assistant torque for an assistant driving end; the power-assisted characteristic curve is a corresponding relation between target current and torque and vehicle speed respectively;
when the system is not in the determined copilot steering state, the controller does not drive the motor and maintains the current at 0.
Furthermore, when the angle sensor is arranged, the controller judges that the current vehicle state is the copilot steering or the main driving steering by detecting the torque signal and the angle signal, and the controller can perform corresponding control according to the vehicle steering state;
determining the steering of the copilot, calculating the product of the angular speed and the torque, and determining the steering of the copilot when the product of the angular speed and the torque is greater than 0; a main driving steering determination that determines a main driving steering when a product of the angular velocity and the torque is less than 0;
when the vehicle is judged to be in a main driving steering state, the controller outputs a certain compensation current according to the current torque and vehicle speed conditions to compensate for larger friction assistance brought by a double-steering-wheel system, when the product of angular speed and torque is smaller than 0, the vehicle speed is smaller than a set threshold value, the product of angular acceleration and angular speed is larger than 0, the controller outputs a friction compensation current to the motor, the compensation current value is determined according to the friction resistance torque value of the steering system, and the torque generated by the compensation current needs to be smaller than the friction assistance torque of the steering system;
when the situation that the vehicle is subjected to assistant driving intervention steering is judged, the controller determines a target current according to an assistant characteristic curve stored in the controller, drives the motor and provides assistant torque for an assistant driving end, and the assistant characteristic curve is the corresponding relation between the target current and the torque and the vehicle speed respectively
The invention has the beneficial effects that: in the system, a main steering wheel and an auxiliary steering wheel are arranged according to the following ratio of 1: the angular speed of 1 is synchronous and rotates in the same direction, and the rotating torque from the auxiliary steering wheel acts on the steering gear by 8-10 times of the rotating torque of the main steering wheel. When the auxiliary steering wheel is not needed to correct the main steering wheel, the load brought to the operation of the main steering wheel by the auxiliary steering wheel system is reduced; the current steering state of the vehicle can be identified, whether the copilot intervenes in steering or not is judged, and after the angle sensor is adopted, the steering of the main driver or the copilot can be accurately judged. According to different steering states of the vehicle, different control strategies are adopted, and power assistance is provided for the copilot when the copilot steers; when the main driving steering is carried out, the main driving steering is not interfered, and the friction resistance of the system can be compensated after the angle sensor is adopted.
Drawings
FIG. 1 is a block diagram of a steering system of a dual steering wheel instruction vehicle.
Fig. 2 is a structural view of the electric booster.
Fig. 3 is a view showing a structure of connection of the electric booster to the steering system.
Fig. 4 is a schematic diagram of a controller circuit.
FIG. 5 is a control diagram of the steering system operation flow without an angle sensor.
FIG. 6 is a control diagram of the steering system operating flow with an angle sensor.
Fig. 7 is a flow chart of the angle-sensorless copilot steering determination.
Fig. 8 is a flow chart of the non-angle-sensor co-driving assistance control.
Fig. 9 is a torque-target current relationship diagram.
Fig. 10 is a vehicle speed-target current map.
Fig. 11 is a flow chart of the angular sensor-assisted steering determination.
Fig. 12 is a flowchart of the angular sensor main driving steering determination.
Fig. 13 is a flowchart of angular sensor main driving friction torque compensation control.
Fig. 14 is a flow chart of the angular sensor-assisted passenger drive assistance control.
Fig. 15 is a torque-target current relationship diagram.
Fig. 16 is a vehicle speed-target current map.
Detailed Description
The invention is further explained below with reference to the drawings.
As shown in fig. 1-3, the steering system of the double-steering-wheel instruction car comprises a main steering wheel system 12, an auxiliary steering wheel system 13 and an electric booster 8, wherein the electric booster comprises an input shaft 1, an output shaft 7, a worm wheel 5, a worm 4, a torsion bar 2, a motor 6 and a sensor 3, and the input shaft 1 and the output shaft 7 are respectively connected to the auxiliary steering wheel system 13 and the main steering wheel system 12 through a left connecting rod 9 and a right connecting rod 10; the worm wheel 5 and the worm 4 act on the output shaft 7 through the speed reducing mechanism; the output of the motor 6 is connected with the worm 4, and the worm gear and the worm reduce the speed and increase the torque to generate an assisting torque; a sensor 3 is arranged between the input shaft 1 and the output shaft 7 for measuring steering torque; the controller 11 is electrically connected with the motor 6 and the sensor 3; the left connecting rod 9 is connected with a steering gear 14, and the right connecting rod 10 is connected with a steering reverser 15. The main steering wheel and the auxiliary steering wheel are as follows: the angular speed of the steering wheel 1 is synchronous and rotates in the same direction, the motor 6 reduces the speed and increases the torque through the worm gear and the worm, and the generated power-assisted torque ensures that the rotation torque of the auxiliary steering wheel acts on the steering wheel by 8-10 times of the rotation torque of the main steering wheel.
As shown in fig. 4, the controller 11 mainly includes a signal acquisition module, a data processing module, a motor driving and controlling module, and the signal acquisition module acquires data such as an ignition signal, a vehicle speed signal, an engine speed signal, a CAN bus, a power supply voltage, a torque signal, a rotation angle signal, a motor current, a motor terminal voltage, and the like; the data processing module is used for calculating and analyzing each data of the signal acquisition module; and the motor driving and controlling module controls the motor according to the data processing result. The controller also comprises a fault diagnosis module which judges whether the system has faults or not according to the result of the data processing part, and when the faults occur, the power assisting is stopped or limited according to the severity level of the faults, and meanwhile, a fault indicator lamp is lightened to store fault information.
The electric booster judges the current steering state of the vehicle in real time, and when a copilot coach is detected to intervene in steering emergently, the controller determines the target current of the driving motor according to the boosting characteristic curve stored in the controller, drives the motor and provides proper boosting torque for steering of a copilot end; the controller does not detect the intervention of the auxiliary driving, when the vehicle is normally steered by a main driving student, the controller does not output current, does not drive a motor, does not output torque, and ensures that the steering of the main driving is not influenced; or the controller outputs certain compensation current to compensate the larger friction resistance brought by the double-steering wheel system, so that the main driving direction is light, and the function needs to be provided with an angle sensor. The control flow is shown in fig. 5 and fig. 6.
And judging the steering state of the vehicle.
The controller judges whether the copilot is involved in steering or not by detecting a torque signal, and judges that the copilot is involved in steering when detecting that the absolute value of the torque is greater than a set threshold value, wherein the threshold value is determined according to the friction resistance torque value of a steering system at the copilot end, and the threshold value needs to be set to be slightly greater than the friction assistance torque value; and when the absolute value of the detected torque is smaller than or equal to a set threshold value, judging that the copilot is not involved in steering. See fig. 7.
When it is determined that the vehicle is involved in steering by copilot, the controller determines a target current according to an assistance characteristic curve stored in the controller, drives the motor, and provides assistance torque for a copilot end, as shown in fig. 8. The assist characteristic curves are the corresponding relations between the target current and the torque and the vehicle speed respectively, and are shown in fig. 9 and fig. 10.
When the system is not in the determined copilot steering state, the controller does not drive the motor and maintains the current at 0.
The angle sensor is arranged, in order to obtain better steering hand feeling, the angle sensor can be added, the controller can accurately judge whether the current vehicle state is the copilot steering or the main driving steering by detecting the torque signal and the angle signal, and the controller can perform corresponding control according to the vehicle steering state. The copilot steering determination, which calculates the product of the angular velocity and the torque, and determines the copilot intervention steering when the product of the angular velocity and the torque is greater than 0, see fig. 11; the main-driving-steering determination, which is determined when the product of the angular velocity and the torque is less than 0, is made, see fig. 12.
When the vehicle is judged to be in a main driving steering state, the controller outputs a certain compensation current according to the current torque and vehicle speed conditions to compensate the larger friction assistance brought by the double-steering-wheel system. When the product of the angular velocity and the torque is less than 0, the vehicle speed is less than the set threshold value, the product of the angular acceleration and the angular velocity is greater than 0, the controller outputs a friction compensation current to the motor, the compensation current value is determined according to the friction resistance torque value of the steering system, and the torque generated by the compensation current needs to be less than the friction assistance torque of the steering system, as shown in fig. 13.
When it is determined that the vehicle is involved in steering by copilot, the controller determines a target current according to an assistance characteristic curve stored in the controller, drives the motor, and provides assistance torque for the copilot, as shown in fig. 14. The assist characteristic curves are the corresponding relations between the target current and the torque and the vehicle speed, respectively, as shown in fig. 15 and 16. Because the angle sensor is used, the assistant driver does not need to be judged to intervene in steering by using a torque threshold value, and the assistance can intervene earlier, so that the assistant driver steering is lighter and more sensitive.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and their concepts should be equivalent or changed within the technical scope of the present invention.
Claims (7)
1. The steering system of the double-steering-wheel instructional car is characterized by comprising a main steering wheel system, an auxiliary steering wheel system and an electric booster,
the electric booster comprises an input shaft, an output shaft, a worm wheel, a worm, a torsion bar, a motor and a sensor, wherein the input shaft and the output shaft are respectively connected to an auxiliary steering wheel system and a main steering wheel system through a left connecting rod and a right connecting rod; the worm wheel and worm speed reducing mechanism acts on the output shaft; the output of the motor is connected with the worm, and the worm and the gear are used for reducing speed and increasing torque to generate an assisting torque; a sensor is arranged between the input shaft and the output shaft to measure steering torque; the controller is electrically connected with the motor and the sensor;
the left connecting rod is connected with the steering gear, and the right connecting rod is connected with the steering reverser.
2. The steering system of a dual steering wheel instruction car of claim 1, wherein the primary steering wheel and the secondary steering wheel are arranged in a ratio of 1: 1, synchronous and equidirectional rotation of angular speeds; the motor is decelerated and torque-increased through a worm gear and a worm, and the generated assisting torque ensures that the rotating torque of the auxiliary steering wheel acts on the steering gear by 8-10 times of the rotating torque of the main steering wheel.
3. The steering system of a dual steering wheel instruction car of claim 1, wherein the sensor is a torque sensor or a torque sensor plus an angle sensor.
4. The steering system of the double-steering-wheel instructional car of claim 1 or 3, wherein the controller is mainly composed of a signal acquisition module, a data processing module, a motor driving and controlling module,
the signal acquisition module is used for acquiring data such as an ignition signal, a vehicle speed signal, an engine rotating speed signal, a CAN bus, power voltage, a torque signal, a corner signal, motor current, motor terminal voltage and the like;
the data processing module is used for calculating and analyzing each data of the signal acquisition module;
and the motor driving and controlling module controls the motor according to the data processing result.
5. The steering system of the double-steering-wheel instructional car of claim 4, wherein the controller further comprises a fault diagnosis module for judging whether the system has a fault according to the result of the data processing part, and when the fault occurs, the power assistance is stopped or limited according to the severity level of the fault, and simultaneously a fault indicator lamp is turned on to store the fault information.
6. The steering system of the double-steering-wheel instructional car according to claim 1 or 2, wherein the controller judges whether the copilot is involved in steering by detecting the torque signal, and judges that the copilot is involved in steering when detecting that the absolute value of the torque is greater than a set threshold value, the threshold value being determined according to the frictional resistance torque value of the steering system at the copilot end, the threshold value being set to be slightly greater than the frictional assistance torque value; when the absolute value of the detected torque is smaller than or equal to a set threshold value, judging that the copilot is not involved in steering;
when the situation that the vehicle is subjected to assistant driving intervention steering is judged, the controller determines a target current according to an assistant characteristic curve stored in the controller, drives a motor and provides assistant torque for an assistant driving end; the power-assisted characteristic curve is a corresponding relation between target current and torque and vehicle speed respectively;
when the system is not in the determined copilot steering state, the controller does not drive the motor and maintains the current at 0.
7. The steering system of the double-steering-wheel instructional car according to claim 2 or 3, wherein the controller judges whether the current vehicle state is the copilot steering or the main driving steering by detecting the torque signal and the angle signal, and the controller performs corresponding control according to the vehicle steering state;
determining the steering of the copilot, calculating the product of the angular speed and the torque, and determining the steering of the copilot when the product of the angular speed and the torque is greater than 0; a main driving steering determination that determines a main driving steering when a product of the angular velocity and the torque is less than 0;
when the vehicle is judged to be in a main driving steering state, the controller outputs a certain compensation current according to the current torque and vehicle speed conditions to compensate for larger friction assistance brought by a double-steering-wheel system, when the product of angular speed and torque is smaller than 0, the vehicle speed is smaller than a set threshold value, the product of angular acceleration and angular speed is larger than 0, the controller outputs a friction compensation current to the motor, the compensation current value is determined according to the friction resistance torque value of the steering system, and the torque generated by the compensation current needs to be smaller than the friction assistance torque of the steering system;
when the situation that the vehicle is involved in steering during the copilot driving is judged, the controller determines a target current according to an internal stored power-assisted characteristic curve, drives the motor and provides power-assisted torque for the copilot end, and the power-assisted characteristic curve is a corresponding relation between the target current and the torque and the vehicle speed respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010446149.8A CN111688789A (en) | 2020-05-25 | 2020-05-25 | Steering system of double-steering-wheel instruction car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010446149.8A CN111688789A (en) | 2020-05-25 | 2020-05-25 | Steering system of double-steering-wheel instruction car |
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| Publication Number | Publication Date |
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| CN111688789A true CN111688789A (en) | 2020-09-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010446149.8A Pending CN111688789A (en) | 2020-05-25 | 2020-05-25 | Steering system of double-steering-wheel instruction car |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368391A (en) * | 2022-01-17 | 2022-04-19 | 清华大学 | Vehicle control method and device of double-steering-wheel redundancy control system |
| CN115258014A (en) * | 2021-04-30 | 2022-11-01 | 朱嘉斌 | Multi-driving-position simulation animal riding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB204340A (en) * | 1922-09-23 | 1924-02-28 | Joan Dimitriu | Improvements in or relating to steering and controlling devices for power-driven vehicles for instruction purposes |
| ES1066279U (en) * | 2007-09-05 | 2008-01-01 | Valverauto, S.A. | Double steering system for automobile vehicles (Machine-translation by Google Translate, not legally binding) |
| CN101218144A (en) * | 2005-07-11 | 2008-07-09 | 日本精工株式会社 | Electric power steering device |
| CN203318484U (en) * | 2013-05-06 | 2013-12-04 | 东风商用车有限公司 | Double-steering-wheel steering transmission device of coach bus |
| CN105365878A (en) * | 2014-08-19 | 2016-03-02 | 东风汽车零部件(集团)有限公司 | Double-input steering gear |
-
2020
- 2020-05-25 CN CN202010446149.8A patent/CN111688789A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB204340A (en) * | 1922-09-23 | 1924-02-28 | Joan Dimitriu | Improvements in or relating to steering and controlling devices for power-driven vehicles for instruction purposes |
| CN101218144A (en) * | 2005-07-11 | 2008-07-09 | 日本精工株式会社 | Electric power steering device |
| ES1066279U (en) * | 2007-09-05 | 2008-01-01 | Valverauto, S.A. | Double steering system for automobile vehicles (Machine-translation by Google Translate, not legally binding) |
| CN203318484U (en) * | 2013-05-06 | 2013-12-04 | 东风商用车有限公司 | Double-steering-wheel steering transmission device of coach bus |
| CN105365878A (en) * | 2014-08-19 | 2016-03-02 | 东风汽车零部件(集团)有限公司 | Double-input steering gear |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115258014A (en) * | 2021-04-30 | 2022-11-01 | 朱嘉斌 | Multi-driving-position simulation animal riding device |
| CN114368391A (en) * | 2022-01-17 | 2022-04-19 | 清华大学 | Vehicle control method and device of double-steering-wheel redundancy control system |
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Application publication date: 20200922 |