CN113879392A - Intelligent auxiliary steering power-assisted system utilizing braking energy and control method - Google Patents
Intelligent auxiliary steering power-assisted system utilizing braking energy and control method Download PDFInfo
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- CN113879392A CN113879392A CN202111067355.9A CN202111067355A CN113879392A CN 113879392 A CN113879392 A CN 113879392A CN 202111067355 A CN202111067355 A CN 202111067355A CN 113879392 A CN113879392 A CN 113879392A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 86
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 26
- 239000003921 oil Substances 0.000 claims description 132
- 238000000926 separation method Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000002474 experimental method Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 6
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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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
- B62D5/061—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle provided with effort, steering lock, or end-of-stroke limiters
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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
- B62D5/062—Details, component parts
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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
Abstract
The invention discloses an intelligent auxiliary steering power-assisted system and a control method by using braking energy, which comprises the following steps: the hydraulic power assisting device comprises a torque sensor, a brake pedal pressure sensor, a vehicle speed sensor, a steering wheel, a steering column assembly, a hydraulic power assisting device, an auxiliary hydraulic power assisting device, a plunger pump clutch device and a main controller; the invention can utilize the self-vehicle kinetic energy to drive the vehicle wheels to rotate through the ground friction force when the vehicle brakes, then drive the output shaft of the speed changer to rotate through the vehicle transmission system, and then drive the plunger pump to pump the hydraulic oil into the steering gear through the plunger pump clutch device, thereby providing the power assistance for the steering system when the vehicle brakes, reducing the power consumed by the motor and finally achieving the effect of saving energy.
Description
Technical Field
The invention belongs to the technical field of automobile steering systems, and particularly relates to an intelligent auxiliary steering power-assisted system utilizing braking energy and a control method.
Background
Along with the frequent occurrence of traffic accidents, people pay more and more attention to the driving safety of automobiles, and a steering system is of great importance to the driving safety of automobiles; the existing steering system is usually designed in a redundant manner to improve the reliability of the steering system, so that the driving safety of an automobile is improved.
In the existing hydraulic power steering technology, the chinese patent application No. cn201811456894.x discloses a hydraulic power steering mechanism, which controls the size of an opening of a valve port of a regulating valve through a control device, and can control the flow rate of hydraulic oil entering a rotary valve type hydraulic power steering gear, so as to adjust the steering power of the rotary valve type hydraulic power steering gear, so that different drivers can adjust the steering power according to their own requirements, and the driving comfort of the drivers is improved well; however, in the above-mentioned technologies, the boost is all energy supplied from the engine or the motor, and the power of the engine or the motor is consumed, which may result in a disadvantage of reducing the driving range of the vehicle.
In addition, in the existing hydraulic power steering technology, when one motor fails, the other motor is used for steering, and the hydraulic power steering system has a fault-tolerant function. For example: the Chinese invention patent application No. CN201711346835.2 discloses a fault-tolerant control method for separating an electromagnetic clutch corresponding to a fault motor through a motor controller; the Chinese patent application No. CN20171134340.6 discloses a fault-tolerant control method for completing steering by a steering gear pinion and a steering gear rack by closing an electromagnetic clutch and reversing a motor when a line-controlled steering mechanism fails; however, in the above-mentioned technology, one more motor is only for increasing the safety, and the two motors cannot work in combination, and when the power supply of the motor is damaged, the motor cannot work, and cannot assist the steering, so that a great potential safety hazard is created.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide an intelligent auxiliary steering power assisting system and a control method using braking energy, so as to solve the problems in the prior art that the power of a power source is excessively consumed by the steering system, and the power of the steering system cannot be assisted when a motor cannot work.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to an intelligent auxiliary steering power-assisted system using braking energy, which comprises: the hydraulic power assisting device comprises a torque sensor, a brake pedal pressure sensor, a vehicle speed sensor, a steering wheel, a steering column assembly, a hydraulic power assisting device, an auxiliary hydraulic power assisting device, a plunger pump clutch device and a main controller; wherein the content of the first and second substances,
the torque sensor is electrically connected with the main controller;
the brake pedal is connected with a brake pedal pressure sensor;
the brake pedal pressure sensor is electrically connected with the main controller;
the vehicle speed sensor is electrically connected with the main controller;
the steering wheel is connected with a steering column assembly, and the steering column assembly comprises: a steering shaft, a steering gear and a steering rocker arm; the output end of the steering wheel is connected with the input end of a steering shaft, a torque sensor is arranged on the steering shaft, the output end of the steering shaft is connected with the input end of a steering gear, the steering gear is provided with an oil inlet and an oil outlet, and the output end of the steering gear is connected with a steering rocker arm;
the hydraulic power assisting device comprises: the device comprises an oil storage tank, a motor pump, a first one-way check valve, a third one-way check valve, a fifth one-way check valve, an overflow valve, a first three-way valve, a second three-way valve, a third three-way valve, a fourth three-way valve, a pressure sensor and a flow sensor; the pressure sensor and the flow sensor are electrically connected with the main controller and transmit pressure signals and flow signals to the main controller, and the overflow valve and the motor pump are controlled by the main controller; the oil storage tank is connected with an oil inlet of the first three-way valve through an oil pipe, a first oil outlet of the first three-way valve is connected with the motor pump through an oil pipe, a first one-way check valve is arranged on the oil pipe between the first three-way valve and the motor pump to enable hydraulic oil to flow from the first three-way valve to the motor pump, the motor pump is connected with a first oil inlet of the second three-way valve through an oil pipe, a third one-way check valve is arranged between the motor pump and the second three-way valve to enable hydraulic oil to flow from the motor pump to the second three-way valve, an oil outlet of the second three-way valve is connected with an oil inlet of the third three-way valve through an oil pipe, a pressure sensor and a flow sensor are arranged in the oil pipe between the third three-way valve and the second three-way valve, a first oil outlet of the third three-way valve is connected with an overflow valve through an oil pipe, the overflow valve is connected with a second oil inlet of the fourth three-way valve through an oil pipe, and a second oil outlet of the third three-way valve is connected with an oil inlet of the steering gear through an oil pipe, a fifth one-way check valve is arranged on an oil pipe between the third three-way valve and the steering gear, so that hydraulic oil flows from the third three-way valve to the steering gear, an oil outlet of the steering gear is connected with a first oil inlet of a fourth three-way valve through the oil pipe, and an oil outlet of the fourth three-way valve is connected with an oil storage tank through the oil pipe;
the auxiliary hydraulic booster includes: the plunger pump, the second one-way check valve and the fourth one-way check valve; a low-pressure inlet of the plunger pump is connected with a second oil port of the first three-way valve through an oil pipe, a second one-way check valve is arranged in the oil pipe between the first three-way valve and the plunger pump to enable hydraulic oil to flow to the plunger pump from the first three-way valve, a high-pressure outlet of the plunger pump is connected with a second oil inlet of the second three-way valve through an oil pipe, and a fourth one-way check valve is arranged in the oil pipe between the plunger pump and the second three-way valve to enable the hydraulic oil to flow to the second three-way valve from the plunger pump;
the plunger pump clutch device comprises: the clutch device comprises a transmission output shaft spline hub, a transmission output shaft driving gear combined gear ring, a synchronizer, a transmission output shaft driven gear, a combined sleeve and a clutch solenoid valve; the combination sleeve and the transmission output shaft spline hub synchronously rotate and slide on the transmission output shaft spline hub along the axial direction of the transmission output shaft; the synchronizer is arranged between the transmission output shaft driving gear combined gear ring and the transmission output shaft spline hub; the transmission output shaft driving gear is meshed with the transmission output shaft driven gear; the clutch electromagnetic valve is connected with the outer ring of the combination sleeve and is electrically connected with the main controller;
and the main controller controls the opening and closing states of the overflow valve and the clutch electromagnetic valve and the rotating speed of the motor pump according to the received signals of the motor pump, the torque sensor, the vehicle speed sensor, the brake pedal pressure sensor, the flow sensor and the pressure sensor.
Further, the first three-way valve is a valve with one inlet and two outlets.
Further, the second three-way valve is a valve with two inlets and one outlet.
Further, the third three-way valve is a valve with one inlet and two outlets.
Further, the fourth three-way valve is a valve with two inlets and one outlet.
Further, the diverter is a constant flow diverter.
Further, the vehicle speed sensor is used for collecting vehicle speed information and transmitting the vehicle speed information to the main controller, when the vehicle speed is not zero, the main controller receives a brake pedal treaded signal sent by the brake pedal pressure sensor, the main controller controls the plunger pump clutch device to realize a combination state, the main controller receives a brake pedal released signal sent by the brake pedal pressure sensor, and the main controller controls the plunger pump clutch device to realize a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to actually keep a combination state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering assistance is realized by the motor pump; when the plunger pump clutch device is in a combined state, the steering power is jointly controlled by the motor pump and the plunger pump, the brake pedal is pressed when the pressure of the brake pedal is greater than zero, and the brake pedal is released when the pressure of the brake pedal is equal to zero.
Further, the torque sensor is used for measuring the rotation direction and the torque of the steering wheel, the condition that the torque is zero means that the steering wheel does not rotate, and the condition that the torque is not zero means that the steering wheel rotates.
Further, the rotation of the steering wheel is divided into left rotation and right rotation, the moment greater than zero indicates that the steering wheel rotates right, and the moment less than zero indicates that the steering wheel rotates left.
Further, the vehicle speed sensor is used for measuring the speed of the vehicle; the main controller calculates the required power-assisted torque according to a vehicle speed signal of a vehicle speed sensor and a torque signal of a steering wheel of a torque sensor by a power-assisted characteristic curve graph, and then calculates the theoretical pressure of hydraulic oil required by the steering gear according to the geometric dimension of a power-assisted cylinder; the power-assisted characteristic curve graph is a three-dimensional MAP graph of power-assisted torque changing along with the change of vehicle speed and steering wheel input torque.
Furthermore, the pressure sensor is used for measuring the actual pressure of the hydraulic oil in the oil path between the second three-way valve and the third three-way valve, the actual pressure is compared with the theoretical pressure, and when the brake pedal is stepped on, the main controller controls the combined work of the motor pump and the plunger pump.
Furthermore, the flow sensor is used for measuring the actual flow of the hydraulic oil in the oil path between the second three-way valve and the third three-way valve, and the actual flow is used for a calibration experiment.
Furthermore, the leakage amount in the hydraulic element is increased along with the increase of working pressure and fit clearance, so that the capacity of effective hydraulic medium added in unit time of the hydraulic system is reduced, and the pressure building time is prolonged; when the pressure of the hydraulic system reaches a certain value, the volume of the hydraulic medium added in unit time of the hydraulic system is equal to the internal leakage amount of the hydraulic element, namely, the hydraulic medium is completely leaked, so that the pressure of the hydraulic system cannot reach the design pressure; in order to ensure that the pressure build-up is rapid and effective, a calibration experiment can be carried out on the vehicle; the calibration experiment is an experiment for finding out the relation between the actual flow and the pressure building time and the theoretical pressure, and the result obtained by the calibration experiment is a pressure building characteristic curve chart; the theoretical pressure is controlled by an overflow valve; the pressure build-up time is artificially set acceptable pressure build-up time; the method comprises the steps of obtaining theoretical pressure through power-assisted torque, obtaining required actual flow through a pressure building time and pressure building characteristic curve graph, providing the required actual flow through a motor pump and a plunger pump, calculating the flow provided by the plunger pump through vehicle speed, calculating the flow required to be provided by the motor pump again, further obtaining the pre-working rotating speed of the motor pump, and controlling the motor pump to reach the pre-working rotating speed through a main controller to shorten the pressure building time.
Further, the hydraulic component includes: fourth three-way valve, first three-way valve, oil storage tank, first check valve, second check valve, motor pump, plunger pump, fourth check valve, third check valve, second three-way valve, third three-way valve, fifth check valve and overflow valve.
Furthermore, the plunger pump clutch device controls the connection between the combination sleeve and the transmission output shaft driving gear combination gear ring through the clutch solenoid valve so that the transmission output shaft driving gear and the transmission output shaft spline hub synchronously rotate, the transmission output shaft driving gear is driven to rotate, the synchronizer is arranged between the transmission output shaft spline hub and the transmission output shaft driving gear combination gear ring, the combination of the transmission output shaft spline hub and the transmission output shaft driving gear combination gear ring is ensured, and the transmission output shaft driving gear drives the transmission output shaft driven gear to rotate, so that the plunger pump is driven to work.
Further, the plunger pump is a swash plate type axial plunger pump, including: the oil distribution disc comprises a return spring, a swash plate guide cover electromagnetic valve, a swash plate, a plunger cylinder body, an oil distribution disc and a plunger pump rotor; the oil distribution disc is characterized in that the return spring is positioned on one side, without the swash plate, of the swash plate guide cover and is connected with the swash plate guide cover, the electromagnetic valve of the swash plate guide cover is connected with the swash plate guide cover on one side with the swash plate, the swash plate guide cover is sleeved on a plunger pump rotor in an empty mode, the swash plate is tightly attached to the swash plate guide cover and is sleeved on the plunger pump rotor in an empty mode, six plungers uniformly distributed on the circumference of the swash plate are respectively connected with the plunger cylinder body, the plunger cylinder body is connected with the plunger pump rotor through splines and rotates synchronously, and the oil distribution disc tightly attached to the plunger cylinder body is sleeved on the plunger pump rotor in an empty mode.
The invention discloses a control method of an intelligent auxiliary steering power-assisted system by using braking energy, which is based on the system and comprises the following steps:
1) the main controller respectively receives information collected by the vehicle speed sensor, the brake pedal sensor and the torque sensor, and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) when the vehicle speed is zero, the main controller controls a clutch electromagnetic valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, and if the steering wheel rotates, the main controller controls the motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
3) when the speed is not zero and the brake pedal is released, the main controller controls a clutch solenoid valve of the plunger pump clutch device to separate a combination sleeve from a transmission output shaft driving gear combination gear ring, and if a steering wheel rotates, the main controller controls a motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
4) when the speed of the vehicle is not zero and the brake pedal is stepped, the main controller controls a clutch solenoid valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, the plunger pump works at the moment, and if the steering wheel does not rotate, the main controller controls the motor pump to stop working; if the steering wheel rotates, the main controller controls the motor pump and the plunger pump to work in a combined mode.
Further, the step 2) of controlling a clutch solenoid valve of the plunger pump clutch device by the main controller to combine the combination sleeve with the transmission output shaft driving gear combination gear ring specifically comprises the following steps:
21) the main controller enables the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring by controlling the clutch electromagnetic valve;
22) the transmission output shaft and the transmission output shaft driving gear synchronously rotate;
23) the driving gear of the output shaft of the speed changer is meshed with the driven gear of the output shaft of the speed changer and drives the driven gear of the output shaft of the speed changer to rotate at a certain transmission ratio;
24) the driven gear of the output shaft of the speed changer is connected with the rotor of the plunger pump through a spline, so that the driven gear of the output shaft of the speed changer and the rotor of the plunger pump synchronously rotate, and the plunger pump can suck oil from an oil storage tank with low oil pressure and release high-pressure oil to a steering gear.
Further, the step 4) of controlling the motor pump and the plunger pump to work in combination by the main controller specifically comprises the following steps:
41) the main controller receives an input torque signal of a steering wheel acquired by a torque sensor, and simultaneously calculates the load of a vehicle according to a vehicle speed signal acquired by a vehicle speed sensor, and further calculates the theoretical pressure of the power-assisted force required by the steering gear;
42) the main controller calculates the required actual flow through a pressure build characteristic curve graph according to the pressure build time and the theoretical pressure;
43) the main controller calculates the flow needed to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, further calculates the pre-working rotating speed of the motor pump and enables the motor pump to reach the pre-working rotating speed;
44) the main controller receives an actual pressure signal sent by the pressure sensor, compares the actual pressure signal with a theoretical pressure, and controls the overflow valve to be closed and increases the rotating speed of the motor pump if the theoretical pressure is greater than the actual pressure; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is zero, the main controller controls the overflow valve to be opened; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is larger than zero, the main controller controls the overflow valve to be closed, and the rotating speed of the motor pump is reduced.
Further, the calculation of the flow rate provided by the plunger pump in the step 43) specifically includes the following steps:
431) the plunger pump is a swash plate type axial plunger pump, the number of plungers of the swash plate type axial plunger pump is a, the diameter of the plungers is D, the included angle between the plane of the swash plate and the normal plane of the axis of the rotor of the plunger pump is alpha, and the rotating diameter of the axis of the plungers around the axis of the rotor of the plunger pump is D;
432) obtaining a formula of flow provided by the plunger pump according to the working characteristics of the swash plate type axial plunger pump:
where n is the wheel speed, i0Is the main reducer transmission ratio i1The transmission ratio of the plunger pump clutch device is shown.
The invention has the beneficial effects that:
the invention has the function of saving energy, can drive the automobile wheels to rotate by using the self-automobile kinetic energy through the ground friction force when the automobile is braked, then drives the transmission output shaft to rotate through the automobile transmission system, and then drives the plunger pump to pump hydraulic oil into the steering gear through the plunger pump clutch device, thereby providing power assistance for the steering system when the automobile is braked, reducing the power consumed by the motor and finally achieving the effect of saving energy.
The invention has the function of auxiliary steering power assistance, and can provide certain power assistance under the condition of steering by stepping on the brake pedal under the condition that an automobile steering power assistance system fails when the automobile runs at high speed, so that a driver can conveniently rotate a steering wheel, and the driving safety is improved; the faster the wheel speed, the greater the assistance provided and vice versa.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic view of a plunger pump clutching device of the present invention;
FIG. 3 is a schematic view of the plunger pump;
FIG. 4 is a cross-sectional view of FIG. 3;
FIG. 5 is a block diagram of the principle flow of the method of the present invention;
in fig. 1: 1-a steering wheel, 2-a steering shaft, 3-a steering gear, 4-a fourth three-way valve, 5-a first three-way valve, 6-an oil storage tank, 7-a first one-way check valve, 8-a second one-way check valve, 9-a motor pump, 10-a plunger pump, 11-a fourth one-way check valve, 12-a third one-way check valve, 13-a second three-way valve, 14-a pressure sensor, 15-a flow sensor, 16-a third three-way valve, 17-a fifth one-way check valve, 18-a steering rocker arm and 19-an overflow valve;
in fig. 2: 10-plunger pump, 20-transmission output shaft, 21-clutch electromagnetic valve, 22-synchronizer, 23-transmission output shaft driving gear, 24-transmission output shaft spline hub, 25-combination sleeve, 26-transmission output shaft driving gear combination gear ring, and 27-transmission output shaft driven gear;
in fig. 3: 28-return spring, 29-swash plate guide cover, 30-swash plate guide cover electromagnetic valve, 31-swash plate, 32-plunger, 33-plunger cylinder block, 34-oil distribution disc and 35-plunger pump rotor.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, an intelligent auxiliary steering power-assisted system using braking energy according to the present invention includes: the hydraulic power assisting device comprises a torque sensor, a brake pedal pressure sensor, a vehicle speed sensor, a steering wheel, a steering column assembly, a hydraulic power assisting device, an auxiliary hydraulic power assisting device, a plunger pump clutch device and a main controller; wherein the content of the first and second substances,
the torque sensor is electrically connected with the main controller;
the brake pedal is connected with a brake pedal pressure sensor;
the brake pedal pressure sensor is electrically connected with the main controller;
the vehicle speed sensor is electrically connected with the main controller;
the hydraulic power assisting device comprises: the device comprises an oil storage tank 6, a motor pump 9, a first one-way check valve 7, a third one-way check valve 12, a fifth one-way check valve 17, an overflow valve 19, a first three-way valve 5, a second three-way valve 13, a third three-way valve 16, a fourth three-way valve 4, a pressure sensor 14 and a flow sensor 15; the pressure sensor 14 and the flow sensor 15 are electrically connected with the main controller and transmit pressure signals and flow signals to the main controller, and the overflow valve 19 and the motor pump 9 are controlled by the main controller; an oil storage tank 6 is connected with an oil inlet of a first three-way valve 5 through an oil pipe, a first oil outlet of the first three-way valve 5 is connected with a motor pump 9 through an oil pipe, a first one-way check valve 7 is arranged on the oil pipe between the first three-way valve 5 and the motor pump 9 to enable hydraulic oil to flow from the first three-way valve 5 to the motor pump 9, the motor pump 9 is connected with a first oil inlet of a second three-way valve 13 through an oil pipe, a third one-way check valve 12 is arranged between the motor pump 9 and the second three-way valve 13 to enable the hydraulic oil to flow from the motor pump 9 to the second three-way valve 13, an oil outlet of the second three-way valve 13 is connected with an oil inlet of a third three-way valve 16 through an oil pipe, a pressure sensor 14 and a flow sensor 15 are arranged in the oil pipe between the third three-way valve 16 and the second three-way valve 13, a first oil outlet of the third three-way valve 16 is connected with an overflow valve 19 through an oil pipe, and the overflow valve 19 is connected with a second oil inlet of a fourth three-way valve 4 through an oil pipe, a second oil outlet of the third three-way valve 16 is connected with an oil inlet of the steering gear 3 through an oil pipe, a fifth one-way check valve 17 is installed on the oil pipe between the third three-way valve 16 and the steering gear 3, so that hydraulic oil flows from the third three-way valve 16 to the steering gear 3, an oil outlet of the steering gear 3 is connected with a first oil inlet of the fourth three-way valve 4 through an oil pipe, and an oil outlet of the fourth three-way valve 4 is connected with the oil storage tank 6 through an oil pipe;
the auxiliary hydraulic booster includes: a plunger pump 10, a second one-way check valve 8, a fourth one-way check valve 11; a low-pressure inlet of the plunger pump 10 is connected with a second oil port of the first three-way valve 5 through an oil pipe, a second one-way check valve 8 is installed in the oil pipe between the first three-way valve 5 and the plunger pump 10, so that hydraulic oil flows from the first three-way valve 5 to the plunger pump 10, a high-pressure outlet of the plunger pump 10 is connected with a second oil inlet of the second three-way valve 13 through an oil pipe, and a fourth one-way check valve 11 is installed in the oil pipe between the plunger pump 10 and the second three-way valve 13, so that the hydraulic oil flows from the plunger pump 10 to the second three-way valve 13;
the plunger pump clutch device comprises: a transmission output shaft spline hub 24, a transmission output shaft driving gear 23, a transmission output shaft driving gear combined gear ring 26, a synchronizer 22, a transmission output shaft driven gear 27, a combined sleeve 25 and a clutch electromagnetic valve 21; the coupling sleeve 25 rotates synchronously with the transmission output shaft spline hub 24 and slides on the transmission output shaft spline hub 24 in the axial direction of the transmission output shaft 20; the transmission output shaft driving gear combined gear ring 26 is attached to the transmission output shaft driving gear 23 and synchronously rotates, and the synchronizer 22 is arranged between the transmission output shaft driving gear combined gear ring 26 and the transmission output shaft spline hub 24; the transmission output shaft driving gear 23 is meshed with a transmission output shaft driven gear 27; the clutch electromagnetic valve 21 is connected with the outer ring of the combination sleeve 25 and is electrically connected with the main controller;
the main controller controls the opening and closing states of the overflow valve 19 and the clutch electromagnetic valve 21 and the rotating speed of the motor pump 9 according to the received signals of the motor pump 9, the torque sensor, the vehicle speed sensor, the brake pedal pressure sensor, the flow sensor 15 and the pressure sensor 14.
The first three-way valve 5 is a valve with one inlet and two outlets.
The second three-way valve 13 is a two-in one-out valve.
The third three-way valve 16 is a valve with one inlet and two outlets.
The fourth three-way valve 4 is a two-in one-out valve.
Wherein the diverter 3 is a constant flow diverter.
The vehicle speed sensor is used for acquiring vehicle speed information and transmitting the vehicle speed information to the main controller, when the vehicle speed is not zero, the main controller receives a brake pedal treaded signal sent by the brake pedal pressure sensor, the main controller controls the plunger pump clutch device to realize a combination state, the main controller receives a brake pedal released signal sent by the brake pedal pressure sensor, and the main controller controls the plunger pump clutch device to realize a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to actually keep a combination state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering assistance is realized by the motor pump 9; when the plunger pump clutch device is in a combined state, the steering power is controlled by the motor pump 9 and the plunger pump 10 in a combined mode, the pressure of the brake pedal is larger than zero and is used for indicating that the brake pedal is stepped, and the pressure of the brake pedal is equal to zero and is used for indicating that the brake pedal is released.
In addition, the torque sensor is used for measuring the rotation direction of the steering wheel and the torque, wherein the moment is zero to indicate that the steering wheel does not rotate, and the moment is not zero to indicate that the steering wheel rotates.
The rotation of the steering wheel is divided into left rotation and right rotation, the moment greater than zero indicates that the steering wheel rotates rightwards, and the moment less than zero indicates that the steering wheel rotates leftwards.
The vehicle speed sensor is used for measuring the speed of the vehicle; the main controller calculates the required power-assisted torque according to a vehicle speed signal of a vehicle speed sensor and a torque signal of a steering wheel of a torque sensor by a power-assisted characteristic curve graph, and then calculates the theoretical pressure of hydraulic oil required by the steering gear according to the geometric dimension of a power-assisted cylinder; the power-assisted characteristic curve graph is a three-dimensional MAP graph of power-assisted torque changing along with the change of vehicle speed and steering wheel input torque.
The pressure sensor is used for measuring the actual pressure of hydraulic oil in an oil path between the second three-way valve and the third three-way valve, the actual pressure is compared with the theoretical pressure, and when the brake pedal is stepped on, the main controller controls the combined work of the motor pump and the plunger pump.
The flow sensor is used for measuring the actual flow of the hydraulic oil in the oil path between the second three-way valve and the third three-way valve, and the actual flow is used for a calibration experiment.
In an example, the leakage amount in the hydraulic element is increased along with the increase of working pressure and fit clearance, so that the capacity of effective hydraulic medium added in unit time of the hydraulic system is reduced, and the pressure building time is prolonged; when the pressure of the hydraulic system reaches a certain value, the volume of the hydraulic medium added in unit time of the hydraulic system is equal to the internal leakage amount of the hydraulic element, namely, the hydraulic medium is completely leaked, so that the pressure of the hydraulic system cannot reach the design pressure; in order to ensure that the pressure build-up is rapid and effective, a calibration experiment can be carried out on the vehicle; the calibration experiment is an experiment for finding out the relation between the actual flow and the pressure building time and the theoretical pressure, and the result obtained by the calibration experiment is a pressure building characteristic curve chart; the theoretical pressure is controlled by an overflow valve; the pressure build-up time is artificially set acceptable pressure build-up time; the method comprises the steps of obtaining theoretical pressure through power-assisted torque, obtaining required actual flow through a pressure building time and pressure building characteristic curve graph, providing the required actual flow through a motor pump and a plunger pump, calculating the flow provided by the plunger pump through vehicle speed, calculating the flow required to be provided by the motor pump again, further obtaining the pre-working rotating speed of the motor pump, and controlling the motor pump to reach the pre-working rotating speed through a main controller to shorten the pressure building time.
The hydraulic component includes: fourth three-way valve 4, first three-way valve 5, oil storage tank 6, first check valve 7, second check valve 8, motor pump 9, plunger pump 10, fourth check valve 11, third check valve 12, second three-way valve 13, third three-way valve 16, fifth check valve 17 and overflow valve 19.
The plunger pump clutch device controls the connection of the combination sleeve 25 and the transmission output shaft driving gear combination gear ring 26 through the clutch solenoid valve 21, so that the transmission output shaft driving gear 23 and the transmission output shaft spline hub 24 synchronously rotate, the transmission output shaft driving gear 23 is driven to rotate, the synchronizer 22 is arranged between the transmission output shaft spline hub 24 and the transmission output shaft driving gear combination gear ring 26, the combination of the transmission output shaft spline hub 24 and the transmission output shaft driving gear combination gear ring 26 is ensured, and the transmission output shaft driving gear 23 drives the transmission output shaft driven gear 27 to rotate, so that the plunger pump 10 is driven to work.
The plunger pump 10 is a swash plate type axial plunger pump, including: a return spring 28, a swash plate guide cover 29, a swash plate guide cover solenoid valve 30, a swash plate 31, a plunger 32, a plunger cylinder block 33, an oil distribution pan 34, and a plunger pump rotor 35; the return spring 28 is located on the side of the swash plate guide cover 29 without the swash plate 31 and connected with the swash plate guide cover 29, the swash plate guide cover electromagnetic valve 30 is connected with the swash plate guide cover 29 on the side with the swash plate 31, the swash plate guide cover 29 is sleeved on the plunger pump rotor 35 in an empty mode, the swash plate 31 is tightly attached to the swash plate guide cover 29 and sleeved on the plunger pump rotor 35 in an empty mode, the swash plate 29 is respectively connected with the plunger cylinder block 33 through six plungers 32 which are uniformly distributed on the circumference, the plunger cylinder block 33 is connected with the plunger pump rotor 35 through splines and rotates synchronously, and the oil distribution disc 34 tightly attached to the plunger cylinder block 33 is sleeved on the plunger pump rotor 35 in an empty mode.
Referring to fig. 5, a control method of an intelligent auxiliary steering system using braking energy according to the present invention includes the following steps based on the system:
1) the main controller respectively receives information collected by the vehicle speed sensor, the brake pedal sensor and the torque sensor, and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) when the vehicle speed is zero, the main controller controls a clutch electromagnetic valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, and if the steering wheel rotates, the main controller controls the motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
the main controller controls a clutch electromagnetic valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear and the gear ring, and the method specifically comprises the following steps:
21) the main controller enables the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring by controlling the clutch electromagnetic valve;
22) the transmission output shaft and the transmission output shaft driving gear synchronously rotate;
23) the driving gear of the output shaft of the speed changer is meshed with the driven gear of the output shaft of the speed changer and drives the driven gear of the output shaft of the speed changer to rotate at a certain transmission ratio;
24) the driven gear of the output shaft of the speed changer is connected with the rotor of the plunger pump through a spline, so that the driven gear of the output shaft of the speed changer and the rotor of the plunger pump synchronously rotate, and the plunger pump can suck oil from an oil storage tank with low oil pressure and release high-pressure oil to a steering gear.
3) When the speed is not zero and the brake pedal is released, the main controller controls a clutch solenoid valve of the plunger pump clutch device to separate a combination sleeve from a transmission output shaft driving gear combination gear ring, and if a steering wheel rotates, the main controller controls a motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
4) when the speed of the vehicle is not zero and the brake pedal is stepped, the main controller controls a clutch solenoid valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, the plunger pump works at the moment, and if the steering wheel does not rotate, the main controller controls the motor pump to stop working; if the steering wheel rotates, the main controller controls the motor pump and the plunger pump to work in a combined mode;
the main controller controls the motor pump and the plunger pump to work in a combined mode and specifically comprises the following steps:
41) the main controller receives an input torque signal of a steering wheel acquired by a torque sensor, and simultaneously calculates the load of a vehicle according to a vehicle speed signal acquired by a vehicle speed sensor, and further calculates the theoretical pressure of the power-assisted force required by the steering gear;
42) the main controller calculates the required actual flow through a pressure build characteristic curve graph according to the pressure build time and the theoretical pressure;
43) the main controller calculates the flow needed to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, further calculates the pre-working rotating speed of the motor pump and enables the motor pump to reach the pre-working rotating speed;
44) the main controller receives an actual pressure signal sent by the pressure sensor, compares the actual pressure signal with a theoretical pressure, and controls the overflow valve to be closed and increases the rotating speed of the motor pump if the theoretical pressure is greater than the actual pressure; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is zero, the main controller controls the overflow valve to be opened; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is larger than zero, the main controller controls the overflow valve to be closed, and the rotating speed of the motor pump is reduced.
In a preferred example, the calculation of the flow rate provided by the plunger pump in step 43) specifically includes the following steps:
431) the plunger pump is a swash plate type axial plunger pump, the number of plungers of the swash plate type axial plunger pump is a, the diameter of the plungers is D, the included angle between the plane of the swash plate and the normal plane of the axis of the rotor of the plunger pump is alpha, and the rotating diameter of the axis of the plungers around the axis of the rotor of the plunger pump is D;
432) obtaining a formula of flow provided by the plunger pump according to the working characteristics of the swash plate type axial plunger pump:
where n is the wheel speed, i0Is the main reducer transmission ratio i1The transmission ratio of the plunger pump clutch device is shown.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An intelligent auxiliary power steering system using braking energy, comprising: the hydraulic power assisting device comprises a torque sensor, a brake pedal pressure sensor, a vehicle speed sensor, a steering wheel, a steering column assembly, a hydraulic power assisting device, an auxiliary hydraulic power assisting device, a plunger pump clutch device and a main controller; wherein the content of the first and second substances,
the torque sensor is electrically connected with the main controller;
the brake pedal is connected with a brake pedal pressure sensor;
the brake pedal pressure sensor is electrically connected with the main controller;
the vehicle speed sensor is electrically connected with the main controller;
the steering wheel is connected with a steering column assembly, and the steering column assembly comprises: a steering shaft, a steering gear and a steering rocker arm; the output end of the steering wheel is connected with the input end of a steering shaft, a torque sensor is arranged on the steering shaft, the output end of the steering shaft is connected with the input end of a steering gear, the steering gear is provided with an oil inlet and an oil outlet, and the output end of the steering gear is connected with a steering rocker arm;
the hydraulic power assisting device comprises: the device comprises an oil storage tank, a motor pump, a first one-way check valve, a third one-way check valve, a fifth one-way check valve, an overflow valve, a first three-way valve, a second three-way valve, a third three-way valve, a fourth three-way valve, a pressure sensor and a flow sensor; the pressure sensor and the flow sensor are electrically connected with the main controller and transmit pressure signals and flow signals to the main controller, and the overflow valve and the motor pump are controlled by the main controller; the oil storage tank is connected with an oil inlet of the first three-way valve through an oil pipe, a first oil outlet of the first three-way valve is connected with the motor pump through an oil pipe, a first one-way check valve is arranged on the oil pipe between the first three-way valve and the motor pump to enable hydraulic oil to flow from the first three-way valve to the motor pump, the motor pump is connected with a first oil inlet of the second three-way valve through an oil pipe, a third one-way check valve is arranged between the motor pump and the second three-way valve to enable hydraulic oil to flow from the motor pump to the second three-way valve, an oil outlet of the second three-way valve is connected with an oil inlet of the third three-way valve through an oil pipe, a pressure sensor and a flow sensor are arranged in the oil pipe between the third three-way valve and the second three-way valve, a first oil outlet of the third three-way valve is connected with an overflow valve through an oil pipe, the overflow valve is connected with a second oil inlet of the fourth three-way valve through an oil pipe, and a second oil outlet of the third three-way valve is connected with an oil inlet of the steering gear through an oil pipe, a fifth one-way check valve is arranged on an oil pipe between the third three-way valve and the steering gear, so that hydraulic oil flows from the third three-way valve to the steering gear, an oil outlet of the steering gear is connected with a first oil inlet of a fourth three-way valve through the oil pipe, and an oil outlet of the fourth three-way valve is connected with an oil storage tank through the oil pipe;
the auxiliary hydraulic booster includes: the plunger pump, the second one-way check valve and the fourth one-way check valve; a low-pressure inlet of the plunger pump is connected with a second oil port of the first three-way valve through an oil pipe, a second one-way check valve is arranged in the oil pipe between the first three-way valve and the plunger pump to enable hydraulic oil to flow to the plunger pump from the first three-way valve, a high-pressure outlet of the plunger pump is connected with a second oil inlet of the second three-way valve through an oil pipe, and a fourth one-way check valve is arranged in the oil pipe between the plunger pump and the second three-way valve to enable the hydraulic oil to flow to the second three-way valve from the plunger pump;
the plunger pump clutch device comprises: the clutch device comprises a transmission output shaft spline hub, a transmission output shaft driving gear combined gear ring, a synchronizer, a transmission output shaft driven gear, a combined sleeve and a clutch solenoid valve; the combination sleeve and the transmission output shaft spline hub synchronously rotate and slide on the transmission output shaft spline hub along the axial direction of the transmission output shaft; the synchronizer is arranged between the transmission output shaft driving gear combined gear ring and the transmission output shaft spline hub; the transmission output shaft driving gear is meshed with the transmission output shaft driven gear; the clutch electromagnetic valve is connected with the outer ring of the combination sleeve and is electrically connected with the main controller;
and the main controller controls the opening and closing states of the overflow valve and the clutch electromagnetic valve and the rotating speed of the motor pump according to the received signals of the motor pump, the torque sensor, the vehicle speed sensor, the brake pedal pressure sensor, the flow sensor and the pressure sensor.
2. The intelligent assist steering system using braking energy according to claim 1, wherein the first three-way valve is a one-in two-out valve; the second three-way valve is a valve with two inlets and one outlet; the third three-way valve is a valve with one inlet and two outlets; the fourth three-way valve is a valve with two inlets and one outlet.
3. The intelligent assist steering assist system using braking energy according to claim 1, wherein the steering gear is a constant flow type steering gear.
4. The intelligent auxiliary steering power-assisted system using the braking energy according to claim 1, wherein the vehicle speed sensor is used for collecting vehicle speed information and transmitting the vehicle speed information to the main controller, when the vehicle speed is not zero, the main controller receives a brake pedal depression signal sent by the brake pedal pressure sensor, the main controller controls the plunger pump clutch device to realize a combination state, the main controller receives a brake pedal release signal sent by the brake pedal pressure sensor, and the main controller controls the plunger pump clutch device to realize a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to actually keep a combination state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering assistance is realized by the motor pump; when the plunger pump clutch device is in a combined state, the steering power is jointly controlled by the motor pump and the plunger pump, the brake pedal is pressed when the pressure of the brake pedal is greater than zero, and the brake pedal is released when the pressure of the brake pedal is equal to zero.
5. The intelligent assist steering assist system using braking energy according to claim 1, wherein the vehicle speed sensor is configured to measure a vehicle speed; the main controller calculates the required power-assisted torque according to a vehicle speed signal of a vehicle speed sensor and a torque signal of a steering wheel of a torque sensor by a power-assisted characteristic curve graph, and then calculates the theoretical pressure of hydraulic oil required by the steering gear according to the geometric dimension of a power-assisted cylinder; the power-assisted characteristic curve graph is a three-dimensional MAP graph of power-assisted torque changing along with the change of vehicle speed and steering wheel input torque.
6. An intelligent auxiliary power steering system using braking energy according to claim 1, wherein the pressure sensor is used for measuring the actual pressure of hydraulic oil in an oil path between the second three-way valve and the third three-way valve, the actual pressure is compared with the theoretical pressure, and the main controller controls the combined operation of the motor pump and the plunger pump when the brake pedal is pressed.
7. A control method of an intelligent auxiliary steering power-assisted system using braking energy, which is based on the system of any one of claims 1-6, and is characterized by comprising the following steps:
1) the main controller respectively receives information collected by the vehicle speed sensor, the brake pedal sensor and the torque sensor, and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) when the vehicle speed is zero, the main controller controls a clutch electromagnetic valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, and if the steering wheel rotates, the main controller controls the motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
3) when the speed is not zero and the brake pedal is released, the main controller controls a clutch solenoid valve of the plunger pump clutch device to separate a combination sleeve from a transmission output shaft driving gear combination gear ring, and if a steering wheel rotates, the main controller controls a motor pump to work; if the steering wheel does not rotate, the main controller controls the motor pump to stop working;
4) when the speed of the vehicle is not zero and the brake pedal is stepped, the main controller controls a clutch solenoid valve of the plunger pump clutch device to enable the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring, the plunger pump works at the moment, and if the steering wheel does not rotate, the main controller controls the motor pump to stop working; if the steering wheel rotates, the main controller controls the motor pump and the plunger pump to work in a combined mode.
8. The method as claimed in claim 7, wherein the step 2) of controlling the clutch solenoid valve of the plunger pump clutch device to couple the coupling sleeve with the transmission output shaft driving gear and the ring gear by the main controller comprises the steps of:
21) the main controller enables the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring by controlling the clutch electromagnetic valve;
22) the transmission output shaft and the transmission output shaft driving gear synchronously rotate;
23) the driving gear of the output shaft of the speed changer is meshed with the driven gear of the output shaft of the speed changer and drives the driven gear of the output shaft of the speed changer to rotate at a certain transmission ratio;
24) the driven gear of the output shaft of the speed changer is connected with the rotor of the plunger pump through a spline, so that the driven gear of the output shaft of the speed changer and the rotor of the plunger pump synchronously rotate, and the plunger pump can suck oil from an oil storage tank with low oil pressure and release high-pressure oil to a steering gear.
9. The control method of an intelligent auxiliary power steering system using braking energy according to claim 7, wherein the step 4) of controlling the motor pump and the plunger pump to work in combination by the main controller specifically comprises the following steps:
41) the main controller receives an input torque signal of a steering wheel acquired by a torque sensor, and simultaneously calculates the load of a vehicle according to a vehicle speed signal acquired by a vehicle speed sensor, and further calculates the theoretical pressure of the power-assisted force required by the steering gear;
42) the main controller calculates the required actual flow through a pressure build characteristic curve graph according to the pressure build time and the theoretical pressure;
43) the main controller calculates the flow needed to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, further calculates the pre-working rotating speed of the motor pump and enables the motor pump to reach the pre-working rotating speed;
44) the main controller receives an actual pressure signal sent by the pressure sensor, compares the actual pressure signal with a theoretical pressure, and controls the overflow valve to be closed and increases the rotating speed of the motor pump if the theoretical pressure is greater than the actual pressure; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is zero, the main controller controls the overflow valve to be opened; if the theoretical pressure is smaller than the actual pressure and the rotating speed of the motor pump is larger than zero, the main controller controls the overflow valve to be closed, and the rotating speed of the motor pump is reduced.
10. The control method of an intelligent auxiliary steering power-assisted system using braking energy as claimed in claim 9, wherein the calculation of the flow rate provided by the plunger pump in the step 43) specifically comprises the following steps:
431) the plunger pump is a swash plate type axial plunger pump, the number of plungers of the swash plate type axial plunger pump is a, the diameter of the plungers is D, the included angle between the plane of the swash plate and the normal plane of the axis of the rotor of the plunger pump is alpha, and the rotating diameter of the axis of the plungers around the axis of the rotor of the plunger pump is D;
432) obtaining a formula of flow provided by the plunger pump according to the working characteristics of the swash plate type axial plunger pump:
in the formula, n is the rotating speed of the wheel,
the transmission ratio of the main speed reducer is set,
the transmission ratio of the plunger pump clutch device is shown.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111067355.9A CN113879392B (en) | 2021-09-13 | 2021-09-13 | Intelligent auxiliary steering power assisting system utilizing braking energy and control method |
| PCT/CN2022/092941 WO2023035649A1 (en) | 2021-09-13 | 2022-05-16 | Intelligent auxiliary power steering system using braking energy, and control method |
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| CN202111067355.9A CN113879392B (en) | 2021-09-13 | 2021-09-13 | Intelligent auxiliary steering power assisting system utilizing braking energy and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114537518A (en) * | 2022-03-15 | 2022-05-27 | 南京航空航天大学 | Auxiliary steering system based on differential braking and control method |
| WO2023035649A1 (en) * | 2021-09-13 | 2023-03-16 | 南京航空航天大学 | Intelligent auxiliary power steering system using braking energy, and control method |
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| CN114537518A (en) * | 2022-03-15 | 2022-05-27 | 南京航空航天大学 | Auxiliary steering system based on differential braking and control method |
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| WO2023035649A1 (en) | 2023-03-16 |
| CN113879392B (en) | 2023-10-24 |
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