CN111824251B - Energy-saving intelligent electro-hydraulic steering system and control method - Google Patents
Energy-saving intelligent electro-hydraulic steering system and control method Download PDFInfo
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- CN111824251B CN111824251B CN202010749093.3A CN202010749093A CN111824251B CN 111824251 B CN111824251 B CN 111824251B CN 202010749093 A CN202010749093 A CN 202010749093A CN 111824251 B CN111824251 B CN 111824251B
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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
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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
- 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
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Abstract
The invention belongs to the technical field of vehicle control, and relates to an energy-saving intelligent electro-hydraulic steering system and a control method thereof, wherein the energy-saving intelligent electro-hydraulic steering system comprises a steering part, an electric power-assisted part, a hydraulic part and a control part; the steering part comprises a steering wheel, a steering shaft and a steering gear which are connected in sequence, the steering shaft is provided with a torque corner sensor, and when the steering wheel drives the steering shaft to rotate, the torque corner sensor detects the torque of the steering shaft and transmits the torque to the control part; the control part is connected with the electric power assisting part and the hydraulic part and starts the electric power assisting part and/or the hydraulic part according to the torque; the electric power assisting part and the hydraulic part are connected with the steering gear and used for providing energy for the steering gear. The electric power assisting part is introduced, so that different requirements on power assisting power in steering actions with different strengths can be met, the advantage of high efficiency of the electric power assisting part is fully exerted, a hydraulic pump driving motor can work intermittently, and the total energy consumption of the system is reduced.
Description
Technical Field
The invention relates to an energy-saving intelligent electro-hydraulic steering system and a control method, and belongs to the technical field of vehicle control.
Background
The popularization and application of the intelligent technology of the new energy bus have great social significance to the change of the automobile industry. The characteristics of relatively fixed running route and low running speed of the passenger car, particularly the urban bus, lay a good foundation for realizing automatic driving of the passenger car, and provide new requirements for further energy conservation of the passenger car by longer endurance mileage and higher environmental protection requirements. The steering system is not only a key subsystem for realizing intelligent driving of the new energy passenger car, but also one of main energy consumption components in the driving process of the new energy passenger car. An electric pump type hydraulic Power Steering System (EHPS for short) commonly equipped in the current new energy passenger car cannot realize the transverse automatic control of the vehicle, and the energy utilization rate is too low due to the limitation of the design requirement of the System. Therefore, the development of a new-generation energy-saving intelligent electro-hydraulic steering system is an important means for realizing the intellectualization of the new-energy passenger car and further saving energy.
Most of the existing research focuses on the research on the energy conservation of an electric pump type hydraulic power-assisted steering system, for example, chinese patent with publication number CN206719320U discloses an energy-storing electric-hydraulic hybrid power-assisted steering system for a commercial vehicle, which includes a high-pressure energy accumulator and a low-power electric pump connected in parallel at the inlet of the steering gear, and is used for meeting different requirements for power-assisted flow in steering actions with different strengths, thereby reducing the loss of high-pressure hydraulic oil in the energy accumulator, reducing the working time of a main pump oil motor in a high-load section, and reducing the total energy consumption of the system. However, the invention still cannot overcome the defect of low efficiency of the hydraulic power steering technology and cannot realize the transverse active control of the vehicle. Chinese patent publication No. CN207328584U discloses an active steering system for a passenger car based on an accumulator, which uses the accumulator as an auxiliary power source of a second hydraulic circuit, thereby reducing the system mass, avoiding energy waste caused by using a plurality of hydraulic pumps, and completing the active steering function through coordination of two hydraulic circuits. However, the system has a complex structure, and the disadvantages of low efficiency and poor system response of the hydraulic power steering technology cannot be overcome.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an energy-saving intelligent electro-hydraulic steering system and a control method thereof, which can meet different requirements for power assistance power in steering actions with different strengths by introducing an electric power assistance part, and fully exert the advantage of high efficiency of the electric power assistance part, so that a hydraulic pump driving motor can intermittently operate, thereby reducing the total energy consumption of the system.
In order to achieve the purpose, the invention adopts the following technical scheme: an energy-saving intelligent electro-hydraulic steering system comprises a steering part, an electric power-assisted part, a hydraulic part and a control part; the steering part comprises a steering wheel, a steering shaft and a steering gear which are connected in sequence, the steering shaft is provided with a torque corner sensor, and when the steering wheel drives the steering shaft to rotate, the torque corner sensor detects the torque of the steering shaft and transmits the torque to the control part; the control part is connected with the electric power assisting part and the hydraulic part and starts the electric power assisting part and/or the hydraulic part according to the torque; the electric power assisting part and the hydraulic part are connected with the steering gear and used for providing energy for the steering gear.
Further, the criteria for activating the electric power assist and/or hydraulic section are: when the torque of the steering shaft is smaller than the torque when the assistance is started to be provided, the electric assistance part and the hydraulic part do not need to be started; starting the electric power-assisted part when the torque of the steering shaft is larger than the torque when the assistance is started to be provided and is smaller than the maximum assistance input torque; when the torque of the steering shaft is larger than the maximum power-assisted input torque, the electric power-assisted part is closed, and the hydraulic part is started; when the vehicle continuously steers, the electric power assisting part and the hydraulic part are simultaneously started.
Further, the output torque of the electric booster is:
wherein, TmIs the output torque of the electric power assisting part; t isdIs the torque of the steering shaft; t is0Torque when assisting power is started to be provided; t ismaxFor maximum electric power-assisted input torque, TtK is the slope of the assist characteristic curve for the maximum torque that the electric assist portion can provide.
Furthermore, the hydraulic part comprises an oil storage tank, a hydraulic pump, an energy accumulator and a flow control unit, the oil storage tank is connected with the hydraulic pump, the hydraulic pump is connected with the steering gear, the energy accumulator is arranged on an oil path between the hydraulic pump and the steering gear, the flow control unit is arranged between the energy accumulator and the steering gear, and an output port of the steering gear is connected with an oil return port of the oil storage tank.
Furthermore, the flow control unit is a plurality of groups of normally closed proportional electromagnetic ball valves integrated on the flow control unit body, and the control part controls the output torque of the hydraulic part by controlling the opening number of the electromagnetic ball valves.
Further, the opening number of the electromagnetic ball valves is calculated by adopting the following formula:
u＝[u1]
wherein u is1Is the calculation result of the formula, u is the opening number of the electromagnetic ball valve, and u is taken1Integer part of (2), TaimIs the target value of the driver input torque, kp、kiProportional coefficient and integral coefficient of PID control respectively. It should be noted that the space generated by the piston chamber (power assisting chamber) on one side of the steering gear needs hydraulic oil for compensation, otherwise, a vacuum degree is generated, so that the pressure of the power assisting chamber is reduced, and therefore, the opening number of the electromagnetic valves is at least 1.
Further, a first pressure sensor connected with the controller is arranged on an oil inlet channel of the flow control unit to detect outlet oil pressure of the energy accumulator; and a second pressure sensor connected with the controller is arranged on an oil inlet channel of the steering gear so as to detect the working pressure of the steering gear.
Further, the working method of the energy accumulator comprises the following steps: when the oil pressure at the outlet of the energy accumulator is lower than the lowest working pressure, the controller controls a hydraulic pump connected with the hydraulic pump to drive a motor to rotate, so that the hydraulic pump is driven to work, and the energy accumulator is pressurized; when the outlet oil pressure of the accumulator reaches the full pressure, the controller controls the hydraulic pump to drive the motor to stop.
Furthermore, the hydraulic part also comprises a first hydraulic oil filter and a second hydraulic oil filter, and the first hydraulic oil filter is arranged at an oil inlet of the hydraulic pump; the second hydraulic oil filter is arranged at an oil return port of the oil storage tank.
The electric power-assisted motor of the electric power-assisted part is connected with a steering shaft through a speed reducer, the steering shaft is connected with a steering device, the steering device is a normally open type recirculating ball steering device, one end, away from the steering shaft, of the steering device is connected with a steering rocker arm, and the other end of the steering rocker arm is connected with a steering drag link.
The invention also discloses an energy-saving intelligent electro-hydraulic steering control method, which adopts any one of the energy-saving intelligent electro-hydraulic steering systems and comprises the following steps: s1 judging the driving mode, if someone drives to enter the normal mode S2, if nobody drives to enter S3; s2 the conventional mode is that when the torque of the steering shaft is smaller than the torque when the assist is started, the electric assist is not required to be startedA section and a hydraulic section; starting the electric power-assisted part when the torque of the steering shaft is larger than the torque when the assistance is started to be provided and is smaller than the maximum assistance input torque; when the torque of the steering shaft is larger than the maximum power-assisted input torque, the hydraulic part is started; s3, outputting a reference track by a track planner, judging whether the reference track has continuous steering and sharp turning, if not, adopting a conventional mode in S2 to process, and if so, entering the next step; s4, starting the hydraulic pump driving motor and the electric power-assisted part to perform active tracking control, if the torque detected by the torque angle sensor is larger than the maximum electric power-assisted input torque TmaxThe hydraulic part is opened, the hydraulic pump and the energy accumulator provide hydraulic power together, and the hydraulic part and the electric power assisting part work in a cooperative mode to meet the power demand of the steering power assisting.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. according to the steering system, the electric power assisting part is introduced, so that different requirements on power assisting power in steering actions with different strengths can be met, the advantage of high efficiency of the electric power assisting part is fully exerted, the hydraulic pump driving motor can work intermittently, and the total energy consumption of the system is reduced. The system can also realize multi-target transverse automatic control of the vehicle through intelligent closed-loop regulation and control of the electric power-assisted motor.
2. The power-assisted source selection can be carried out by the steering system according to the power requirements of different stages in the steering action, and the electric power-assisted system has high efficiency and small power-assisted power, so that electric power assistance is adopted in the initial stages of low-strength, small-corner steering action and large-corner steering action; for the later stage of large-corner steering action, the electric power assistance can not meet the power assistance power requirement, an electric system and an energy accumulator hydraulic system are coupled for assistance, and meanwhile, the flow of the hydraulic system can be dynamically adjusted by a flow control unit, so that a large amount of loss of high-pressure hydraulic oil in the energy accumulator at the low-flow-demand stage is reduced.
3. The accumulator can control the start and stop of the hydraulic pump driving motor according to the oil pressure at the outlet of the accumulator, and the pressure of the accumulator is kept between the lowest working pressure and the full pressure, so that the hydraulic pump driving motor works intermittently.
Drawings
Fig. 1 is a schematic structural diagram of an energy-saving intelligent electro-hydraulic steering system provided in an embodiment of the present invention;
FIG. 2 is a flow chart of a method of operating an accumulator provided in an embodiment of the present invention;
fig. 3 is a flowchart of an energy-saving intelligent electro-hydraulic steering control method provided in an embodiment of the present invention.
Reference numerals:
1-a steering wheel, 2-a steering shaft, 3-an electric power-assisted motor, 4-a steering gear, 5-a speed reducer, 6-a steering rocker arm, 7-a steering drag link and 8-a torque angle sensor; 9-controller, 10-first pressure sensor, 11-second pressure sensor, 12-oil storage tank, 13-hydraulic pump, 14-accumulator, 15-flow control unit, 16-one-way valve, 17-hydraulic pump driving motor, 18-first hydraulic oil filter, 19-second hydraulic oil filter.
Detailed Description
The present invention is described in detail by way of specific embodiments in order to better understand the technical direction of the present invention for those skilled in the art. It should be understood, however, that the detailed description is provided for a better understanding of the invention only and that they should not be taken as limiting the invention. In describing the present invention, it is to be understood that the terminology used is for the purpose of description only and is not intended to be indicative or implied of relative importance.
Example one
An energy-saving intelligent electro-hydraulic steering system is shown in figure 1 and comprises a steering part, an electric power-assisted part, a hydraulic part and a control part; the steering part comprises a steering wheel 1, a steering shaft 2 and a steering gear 4 which are connected in sequence, the steering gear 4 is preferably a normally open type circulating ball steering gear 4, a speed reducer 5 is arranged between the steering gear 4 and the steering shaft 2, and an electric power-assisted motor of the electric power-assisted part is connected with the steering shaft 2 through the speed reducer 5. One end of the steering gear 4 far away from the steering shaft 2 is connected with a steering rocker arm 6, and the other end of the steering rocker arm 6 is connected with a steering drag link 7. The steering shaft 2 is provided with a torque angle sensor 8, and when the steering wheel 1 drives the steering shaft 2 to rotate, the torque angle sensor 8 detects the torque of the steering shaft 2 and transmits the torque to the control part; the control part is connected with the electric power assisting part and the hydraulic part and starts the electric power assisting part and/or the hydraulic part according to the torque; the electric booster and the hydraulic unit are connected to the steering gear 4 and are used to power the steering gear 4. The torque angle sensor 8 is preferably an integrated structure. The reducer 5 is preferably a worm gear reduction.
The criteria for activating the electric power assist and/or hydraulic section are: when the torque of the steering shaft is smaller than the torque when the assistance is started to be provided, the electric assistance part and the hydraulic part do not need to be started; starting the electric power-assisted part when the torque of the steering shaft is larger than the torque when the assistance is started to be provided and is smaller than the maximum assistance input torque; when the torque of the steering shaft is larger than the maximum power-assisted input torque, the electric power-assisted part is closed, and the hydraulic part is started; when the vehicle continuously steers, the electric power assisting part and the hydraulic part are simultaneously started.
The control part comprises a controller 9, and a torque angle sensor 8, a first pressure sensor 10 and a second pressure sensor 11 which are connected with the controller 9; the controller 9 includes a hydraulic pump driving motor control module, an electric power assisting unit control module, a flow rate control unit control module, etc., and monitors the operation of the entire system in real time and adjusts the operation of the system by processing the data detected by the torque angle sensor 8 and the data detected by the first pressure sensor 10 and the second pressure sensor 11.
The electric power assisting part comprises an electric power assisting motor, and the output torque of the electric power assisting motor is as follows:
wherein, TmIs the output torque of the electric power assisting part; t isdIs the torque of the steering shaft; t is0Torque when assisting power is started to be provided; t ismaxFor maximum electric power-assisted input torque, TtK is the slope of the assist characteristic curve calculated by the ideal assist torque module, and is the maximum torque that the electric assist unit can provide. The electric booster motor in the embodiment is preferably a permanent magnet synchronous motor.
The hydraulic part comprises an oil storage tank 12, a hydraulic pump 13, an energy accumulator 14 and a flow control unit 15, the oil storage tank 12 is connected with the hydraulic pump 13, the hydraulic pump 13 is connected with the steering gear 4, the energy accumulator 14 is arranged on an oil path between the hydraulic pump 13 and the steering gear 4, the flow control unit 15 is arranged between the energy accumulator 14 and the steering gear 4, the flow control unit 15 is twelve groups of normally closed proportional electromagnetic ball valves integrated on a body of the flow control unit 15, and the control part controls the output torque of the hydraulic part by controlling the opening number of the electromagnetic ball valves. The output port of the steering gear 4 is connected with the oil return port of the oil storage tank 12. A check valve 16 is provided between the hydraulic pump 13 and the accumulator 14. In the present embodiment, the hydraulic pump 13 is preferably a gear pump; the accumulator 14 is preferably a bladder accumulator.
The opening number of the electromagnetic ball valves is calculated by adopting the following formula:
u＝[u1]
wherein u is1Is the calculation result of the formula, u is the opening number of the electromagnetic ball valve, and u is taken1Integer part of (2), TaimIs the target value of the driver input torque, kp、kiProportional coefficient and integral coefficient of PID control respectively.
A first pressure sensor 10 connected with the controller 9 is arranged on an oil inlet channel of the flow control unit 15 to detect the outlet oil pressure of the accumulator 14; a second pressure sensor 11 connected to the controller 9 is provided on the oil inlet of the steering gear 4 to detect the operating pressure of the steering gear 4. As shown in fig. 2, the working method of the accumulator 14 is: when the outlet oil pressure of the accumulator 14 is less than the lowest working pressure, the controller 9 controls a hydraulic pump driving motor 17 connected with the hydraulic pump 13 to start rotating, so as to drive the hydraulic pump 13 to work and pressurize the accumulator 14; when the outlet oil pressure of the accumulator 14 reaches the full pressure, the controller 9 controls the hydraulic pump driving motor 17 to stop. The output shaft of the hydraulic pump drive motor 17 is collinear with the input shaft of the hydraulic pump 13, and the hydraulic pump drive motor 17 is preferably a permanent magnet synchronous motor.
The hydraulic part also comprises a first hydraulic oil filter 18 and a second hydraulic oil filter 19, and the first hydraulic oil filter 18 is arranged at an oil inlet of the hydraulic pump 13; the second hydraulic oil filter 19 is provided at an oil return port of the oil reservoir 12.
Example two
Based on the same inventive concept, the embodiment discloses an energy-saving intelligent electro-hydraulic steering control method, which adopts any one of the energy-saving intelligent electro-hydraulic steering systems in the first embodiment and comprises the following steps:
s1 judging the driving mode, if someone drives to enter the normal mode S2, if nobody drives to enter S3;
s2 the normal mode is that when the torque of the steering shaft is smaller than the torque at the time of starting to provide assist force, the electric assist portion and the hydraulic portion do not need to be started; starting the electric power-assisted part when the torque of the steering shaft is larger than the torque when the assistance is started to be provided and is smaller than the maximum assistance input torque; when the torque of the steering shaft is larger than the maximum power-assisted input torque, the hydraulic part is started;
and S3, in the unmanned driving mode, firstly, considering the interaction between the self vehicle and other vehicles and the interaction between the self vehicle and the environmental road, and considering the kinematic response characteristic of the self vehicle and the control input of the execution system to plan the track. And controlling the output of the hydraulic part and the electric power assisting part according to the planned track. Outputting a reference track by a track planner, and judging whether the reference track has continuous steering and sharp turning, namely high-strength and large-amplitude steering, in the embodiment, defining the sharp turning as the turning with the transverse force coefficient larger than 0.2, if not, adopting a conventional mode in S2 for processing, and if so, entering the next step;
s4 starting the hydraulic pump driving motor 17 and the electric power assisting part for active tracking control, if the torque T detected by the torque angle sensor 8motorGreater than the maximum electric power-assisted input torque TmaxWhen the power-assisted steering system is started, the hydraulic part is started, the hydraulic pump and the energy accumulator 14 provide hydraulic power assistance together, and the hydraulic part and the electric power-assisted part work cooperatively to meet the power requirement of the power-assisted steering.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims. The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. An energy-saving intelligent electro-hydraulic steering system is characterized by comprising a steering part, an electric power-assisted part, a hydraulic part and a control part;
the steering part comprises a steering wheel, a steering shaft and a steering gear which are connected in sequence, the steering shaft is provided with a torque angle sensor, and when the steering wheel drives the steering shaft to rotate, the torque angle sensor detects the torque of the steering shaft and transmits the torque to the control part;
the control part is connected with the electric power assisting part and the hydraulic part and starts the electric power assisting part and/or the hydraulic part according to the torque;
the electric power-assisted part and the hydraulic part are connected with the steering gear and are used for providing energy for the steering gear;
the hydraulic part comprises an oil storage tank, a hydraulic pump, an energy accumulator and a flow control unit, the oil storage tank is connected with the hydraulic pump, the hydraulic pump is connected with the steering gear, the oil passages of the hydraulic pump and the steering gear are provided with the energy accumulator, the flow control unit is arranged between the energy accumulator and the steering gear, and an output port of the steering gear is connected with an oil return port of the oil storage tank;
the flow control unit is a plurality of groups of normally closed proportional electromagnetic ball valves integrated on the flow control unit body, and the control part controls the output torque of the hydraulic part by controlling the opening number of the electromagnetic ball valves;
the opening number of the electromagnetic ball valves is calculated by adopting the following formula:
u＝[u1]
wherein u is1Is the calculation result of the formula, u is the opening number of the electromagnetic ball valve, and u is taken1Integer part of (2), TaimIs the target value of the driver input torque, kp、kiProportional and integral coefficients, T, respectively, for PID controldIs the torque of the steering shaft; t ismaxThe torque is input for the maximum electric power assistance.
2. An energy-saving intelligent electro-hydraulic steering system according to claim 1, wherein the standards for starting the electric power assisting part and/or the hydraulic part are as follows:
when the torque of the steering shaft is smaller than the torque when the assistance is started to be provided, the electric assistance part and the hydraulic part do not need to be started;
starting the electric power assist portion when the torque of the steering shaft is greater than the torque at the time of starting to provide the assist force and less than the maximum assist force input torque;
and when the torque of the steering shaft is larger than the maximum power-assisted input torque, starting the hydraulic part.
3. The energy-saving intelligent electro-hydraulic steering system according to claim 2, wherein the output torque of the electric power assisting part is as follows:
wherein, TmIs the output torque of the electric power assisting part; t isdIs the torque of the steering shaft; t is0Torque when assisting power is started to be provided; t ismaxIs the most importantLarge electric power-assisted input torque, TtK is the slope of the assist characteristic curve for the maximum torque that the electric assist portion can provide.
4. The energy-saving intelligent electro-hydraulic steering system according to claim 1, wherein the control part comprises a controller, and a first pressure sensor connected with the controller is arranged on an oil inlet channel of the flow control unit to detect the outlet oil pressure of an accumulator; and a second pressure sensor connected with the controller is arranged on an oil inlet channel of the steering gear so as to detect the working pressure of the steering gear.
5. The energy-saving intelligent electro-hydraulic steering system according to claim 4, wherein the working method of the accumulator is as follows: when the oil pressure at the outlet of the accumulator is lower than the lowest working pressure, the control part controls a hydraulic pump connected with the hydraulic pump to drive a motor to start rotating so as to drive the hydraulic pump to work and pressurize the accumulator; when the outlet oil pressure of the accumulator reaches the full pressure, the control part controls the hydraulic pump to drive the motor to stop.
6. The energy-saving intelligent electro-hydraulic steering system according to claim 5, wherein the hydraulic part further comprises a first hydraulic oil filter and a second hydraulic oil filter, the first hydraulic oil filter is arranged at an oil inlet of the hydraulic pump; the second hydraulic oil filter is arranged at an oil return port of the oil storage tank.
7. An energy-saving intelligent electro-hydraulic steering control method, which is characterized in that the energy-saving intelligent electro-hydraulic steering system according to any one of claims 1 to 6 is adopted, and comprises the following steps:
s1 judging the driving mode, if someone drives to enter the normal mode S2, if nobody drives to enter S3;
s2 the normal mode is that when the torque of the steering shaft is smaller than the torque at the time of starting to provide the assist force, the electric assist portion and the hydraulic portion do not need to be activated; starting the electric power assist portion when the torque of the steering shaft is greater than the torque at the time of starting to provide the assist force and less than the maximum assist force input torque; when the torque of the steering shaft is larger than the maximum power-assisted input torque, starting a hydraulic part;
s3, outputting a reference track by a track planner, judging whether the reference track has continuous steering and sharp turning, if not, adopting the conventional mode in S2 for processing, and if so, entering the next step;
s4, starting the hydraulic pump driving motor and the electric power-assisted part to perform active tracking control, if the torque detected by the torque angle sensor is larger than the maximum electric power-assisted input torque TmaxThe hydraulic part is opened, the hydraulic pump and the energy accumulator provide hydraulic power together, and the hydraulic part and the electric power assisting part work in a cooperative mode to meet the power demand of the steering power assisting.
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| JP6926835B2 (en) * | 2017-08-30 | 2021-08-25 | いすゞ自動車株式会社 | Steering device |
| CN112896291B (en) * | 2021-04-01 | 2022-06-10 | 南京航空航天大学 | Composite gear and rack type active steering system and control method thereof |
| CN113212546B (en) * | 2021-05-21 | 2022-04-08 | 南京航空航天大学 | Commercial vehicle electro-hydraulic composite steering system and segmented energy management method thereof |
| CN113104100B (en) * | 2021-05-27 | 2022-07-19 | 清华大学 | Control method and system for energy-saving intelligent electro-hydraulic steering system |
| CN114261443A (en) * | 2022-01-07 | 2022-04-01 | 天津德科智控股份有限公司 | Electro-hydraulic steering system and control method |
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| JP4485802B2 (en) * | 2002-02-27 | 2010-06-23 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | Hydraulic servo steering device |
| CN206719320U (en) * | 2017-04-18 | 2017-12-08 | 清华大学 | A kind of commercial car energy-accumulated electric switched hydraulic hybrid servo steering system |
| CN107901979B (en) * | 2017-11-10 | 2020-02-28 | 南京双环电器股份有限公司 | Automobile electro-hydraulic active steering road feel control system and control method thereof |
| CN109131542A (en) * | 2018-09-25 | 2019-01-04 | 江苏大学 | A kind of double servo steering system constructional devices |
| CN110626337B (en) * | 2019-10-17 | 2020-09-15 | 北京易控智驾科技有限公司 | Steering safety redundancy system and control method for unmanned commercial vehicle |
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