CN113879392B - Intelligent auxiliary steering power assisting system utilizing braking energy and control method - Google Patents

Intelligent auxiliary steering power assisting system utilizing braking energy and control method Download PDF

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Publication number
CN113879392B
CN113879392B CN202111067355.9A CN202111067355A CN113879392B CN 113879392 B CN113879392 B CN 113879392B CN 202111067355 A CN202111067355 A CN 202111067355A CN 113879392 B CN113879392 B CN 113879392B
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China
Prior art keywords
main controller
steering
plunger pump
way valve
valve
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CN202111067355.9A
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Chinese (zh)
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CN113879392A (en
Inventor
储雨凯
周小川
赵万忠
张自宇
吴刚
梁为何
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN202111067355.9A priority Critical patent/CN113879392B/en
Publication of CN113879392A publication Critical patent/CN113879392A/en
Priority to PCT/CN2022/092941 priority patent/WO2023035649A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses an intelligent auxiliary steering power-assisted system utilizing braking energy and a control method thereof, comprising the following steps: the 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; according to the invention, when the automobile is braked, the automobile wheels are driven to rotate by the ground friction force through the automatic kinetic energy, the transmission output shaft is driven to rotate through the automobile transmission system, and the plunger pump is driven by the plunger pump clutch device to pump the hydraulic oil into the steering gear, so that the power of the motor is reduced when the automobile is braked, and finally the energy saving effect is achieved.

Description

Intelligent auxiliary steering power assisting system utilizing braking energy and control method
Technical Field
The invention belongs to the technical field of automobile steering systems, and particularly relates to an intelligent auxiliary steering power assisting system utilizing braking energy and a control method.
Background
With frequent occurrence of traffic accidents, people pay more and more attention to the running safety of automobiles, and a steering system is important to the running safety of automobiles; the existing steering system is usually designed in a redundancy way to improve the reliability of the steering system and further improve the driving safety of the automobile.
In the prior art of hydraulic power steering, a hydraulic power steering mechanism is disclosed in the Chinese patent application No. CN201811456894.X, and the hydraulic power steering mechanism of the invention controls the opening size of a valve port of an adjusting valve through a control device, so that the flow of hydraulic oil entering a rotary valve type hydraulic power steering can be controlled, the adjustment of the steering power of the rotary valve type hydraulic power steering is realized, and further, different drivers can adjust the steering power according to the own requirements, and the driving comfort of the drivers is better improved; however, in the above-mentioned technologies, the power assistance is all the energy supplied from the engine or the motor, and the power of the engine or the motor is consumed, which results in drawbacks such as reduction of the range of the vehicle.
In addition, in the existing hydraulic power steering technology, when one motor fails, the other motor is used for steering, so that the fault-tolerant function is achieved. For example: the Chinese 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 turning on an electromagnetic clutch when a wire control steering mechanism fails, and turning back a motor to enable a steering pinion and a steering rack to finish steering; however, in the above-mentioned technology, only for increasing the safety, two motors cannot work together, and when the power supply of the motors is damaged, the motors cannot work, and the power can not be assisted to the steering, so that the electric vehicle has a great potential safety hazard.
Disclosure of Invention
Aiming at overcoming the defects of the prior art, the invention aims to provide an intelligent auxiliary steering power assisting system and a control method by utilizing braking energy so as to solve the problems that the steering system in the prior art excessively consumes power of a power source and cannot assist the steering system when a motor cannot work.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides an intelligent auxiliary steering power assisting system utilizing braking energy, which comprises the following components: the 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 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: steering shaft, steering gear and steering rocker arm; the output end of the steering wheel is connected with the input end of the steering shaft, the torque sensor is arranged on the steering shaft, the output end of the steering shaft is connected with the input end of the 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 the steering rocker arm;
the hydraulic assist device includes: 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 and an overflow valve, wherein the first three-way valve, the second three-way valve, the third three-way valve, the 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 a first three-way valve through an oil pipe, a first oil outlet of the first three-way valve is connected with a 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, so that hydraulic oil flows from the first three-way valve to the motor pump, the motor pump is connected with a first oil inlet of a 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, so that hydraulic oil flows 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 a 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, the first oil outlet of the third three-way valve is connected with an overflow valve through an oil pipe, the second overflow valve is connected with a second oil inlet of a fourth three-way valve through an oil pipe, a fifth one-way check valve is arranged on the oil pipe between the third three-way valve and a steering gear, so that hydraulic oil flows from the third three-way valve to the steering gear through an oil inlet of the fourth three-way valve, and the oil outlet of the steering gear is connected with the oil tank through an oil inlet of the fourth three-way valve;
the auxiliary hydraulic assist device includes: a plunger pump, a second one-way check valve, a fourth one-way check valve; the 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, so that hydraulic oil flows from the first three-way valve to the plunger pump, the high-pressure outlet of the plunger pump is connected with a second oil inlet of the second three-way valve through the 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, so that hydraulic oil flows from the plunger pump to the second three-way valve;
the plunger pump clutch device comprises: the transmission 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 electromagnetic valve; the combination sleeve rotates synchronously with the spline hub of the transmission output shaft and slides on the spline hub of the transmission output shaft along the axial direction of the transmission output shaft; the transmission output shaft driving gear is combined with the gear ring and is attached to the transmission output shaft driving gear and synchronously rotates, and the synchronizer is arranged between the transmission output shaft driving gear combined with the 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 combining sleeve and is electrically connected with the main controller;
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 element with one inlet and two outlets.
Further, the second three-way valve is a valve element with two inlets and one outlet.
Further, the third three-way valve is a valve element with one inlet and two outlets.
Further, the fourth three-way valve is a valve element 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 signal that the brake pedal is pressed and sent by the brake pedal pressure sensor, the main controller controls the plunger pump clutch device to achieve a combination state, the main controller receives a signal that the brake pedal is released and sent by the brake pedal pressure sensor, and the main controller controls the plunger pump clutch device to achieve a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to be in a real-time combined state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering power assisting is realized by a motor pump; when the plunger pump clutch device is in a combined state, the steering power is controlled by the motor pump and the plunger pump in a combined mode, the brake pedal is pressed when the brake pedal pressure is greater than zero, and the brake pedal pressure is equal to zero and is released when the brake pedal is released.
Further, the torque sensor is used for measuring the rotation direction and torque of the steering wheel, wherein zero torque indicates that the steering wheel does not rotate, and zero torque indicates that the steering wheel rotates.
Further, steering wheel rotation is divided into left and right turns, with a torque greater than zero indicating steering wheel right turn and a torque less than zero indicating steering wheel left turn.
Further, the vehicle speed sensor is used for measuring the speed of the vehicle; the main controller calculates the needed 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 using a power-assisted characteristic curve chart, and then calculates the theoretical pressure of hydraulic oil needed by the steering gear according to the geometric dimension of a power-assisted cylinder; the boosting characteristic curve graph is a three-dimensional MAP graph of boosting torque changing along with the change of the vehicle speed and the input torque of the steering wheel.
Further, the pressure sensor is used for measuring the actual pressure of hydraulic oil in an oil way 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 pressed, the main controller controls the combined operation of the motor pump and the plunger pump.
Further, 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 calibration experiments.
Further, the leakage amount in the hydraulic element increases along with the increase of working pressure and fit clearance, so that the effective hydraulic medium capacity added in unit time of the hydraulic system is reduced, and the time for establishing the pressure is prolonged; when the pressure of the hydraulic system reaches a certain value, the capacity of the hydraulic medium added in unit time of the hydraulic system is equal to the internal leakage quantity of the hydraulic element, namely, the hydraulic system completely leaks, so that the pressure of the hydraulic system cannot reach the design pressure; in order to ensure quick and effective pressure build-up, 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 build-up time and the theoretical pressure, and the result obtained by the calibration experiment is a pressure build-up characteristic curve chart; the theoretical pressure is controlled by an overflow valve; the pressure build-up time is acceptable pressure build-up time manually set; the theoretical pressure is calculated by aid of the power-assisted torque, the required actual flow is calculated by aid of the pressure building time and the pressure building characteristic curve, the required actual flow is provided by the motor pump and the plunger pump together, the flow provided by the plunger pump can be calculated by aid of the vehicle speed, accordingly, the flow required to be provided by the motor pump can be calculated, the pre-working rotating speed of the motor pump is further calculated, the main controller controls the motor pump to achieve the pre-working rotating speed, and the pressure building time is shortened.
Further, the hydraulic component includes: the system comprises a fourth three-way valve, a first three-way valve, an oil storage tank, a first one-way check valve, a second one-way check valve, a motor pump, a plunger pump, a fourth one-way check valve, a third one-way check valve, a second three-way valve, a third three-way valve, a fifth one-way check valve and an overflow valve.
Further, the plunger pump clutch device is connected with the transmission output shaft driving gear combination gear ring through the clutch electromagnetic valve control combination sleeve, 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 positioned 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 as to drive the plunger pump to work.
Further, the plunger pump is a swash plate type axial plunger pump, comprising: the device 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 return spring is positioned on one side of the swash plate guide cover without the swash plate 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 the plunger pump rotor in an empty mode, the swash plate is tightly attached to the swash plate guide cover and 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 a spline and rotates synchronously, and the oil distribution disc attached to the plunger cylinder body is sleeved on the plunger pump rotor in an empty mode.
The invention relates to a control method of an intelligent auxiliary steering power assisting system utilizing braking energy, which is based on the system and comprises the following steps:
1) The main controller receives information acquired by the vehicle speed sensor, the brake pedal sensor and the torque sensor respectively and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) When the speed of the vehicle is zero, the main controller controls the 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 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 vehicle speed is not zero and the brake pedal is released, the main controller controls the clutch electromagnetic valve of the plunger pump clutch device to separate the combination sleeve from 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;
4) When the vehicle speed is not zero and the brake pedal is stepped down, the main controller controls the 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, at the moment, the plunger pump works, 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 the clutch solenoid valve of the clutch device of the plunger pump by the main controller to combine the combining sleeve with the driving gear of the output shaft of the transmission and the combining 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 through controlling the clutch electromagnetic valve;
22 A transmission output shaft rotates synchronously with a transmission output shaft driving gear;
23 A transmission output shaft driving gear is meshed with a transmission output shaft driven gear and drives the transmission output shaft driven gear to rotate in 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 absorb 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 the steering wheel collected by the torque sensor, and calculates a vehicle load according to a vehicle speed signal collected by the vehicle speed sensor, so as to further calculate the theoretical pressure of the power assistance required by the steering gear;
42 The main controller obtains the required actual flow through the pressure building characteristic curve graph according to the pressure building time and the theoretical pressure;
43 The main controller calculates the flow required to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, and further obtains 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 and compares the actual pressure signal with the theoretical pressure, and if the theoretical pressure is larger than the actual pressure, the main controller controls the overflow valve to be closed, and the rotation speed of the motor pump is increased; if the theoretical pressure is smaller than the actual pressure and the rotation 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 motor pump rotation speed is larger than zero, the main controller controls the overflow valve to be closed, and the motor pump rotation speed is reduced.
Further, the flow calculation 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 plunger pump rotor is alpha, and the rotation diameter of the axis of the plungers around the axis of the plunger pump rotor is D;
432 According to the working characteristics of the swash plate type axial plunger pump, a formula of the flow provided by the plunger pump is obtained:
wherein n is the wheel rotation speed, i 0 Is the transmission ratio of the main speed reducer, i 1 Is the transmission ratio of the clutch device of the plunger pump.
The invention has the beneficial effects that:
the invention has the function of saving energy, can utilize the self-kinetic energy to drive the automobile wheels to rotate through ground friction force when the automobile brakes, then drive the transmission output shaft to rotate through the automobile 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 power assistance for the steering system when the automobile brakes, reducing the power consumed by the motor and finally achieving the effect of saving energy.
The steering wheel has the function of assisting steering assistance, when the automobile steering assistance system fails during high-speed driving, a certain assistance force can be provided under the steering condition by stepping on the brake pedal, so that a driver can lightly rotate the steering wheel, and the driving safety is improved; the faster the wheel speed, the more boost is provided and vice versa.
Drawings
FIG. 1 is a block diagram of a system of the present invention;
FIG. 2 is a schematic diagram of the clutch mechanism of the plunger pump of the present invention;
FIG. 3 is a schematic diagram of a plunger pump;
FIG. 4 is a cross-sectional view of FIG. 3;
FIG. 5 is a schematic flow diagram of the method of the present invention;
in fig. 1: 1-steering wheel, 2-steering shaft, 3-diverter, 4-fourth three-way valve, 5-first three-way valve, 6-oil reservoir, 7-first one-way check valve, 8-second one-way check valve, 9-motor pump, 10-plunger pump, 11-fourth one-way check valve, 12-third one-way check valve, 13-second three-way valve, 14-pressure sensor, 15-flow sensor, 16-third three-way valve, 17-fifth one-way check valve, 18-steering rocker arm, 19-overflow valve;
in fig. 2: 10-plunger pumps, 20-transmission output shafts, 21-clutch electromagnetic valves, 22-synchronizers, 23-transmission output shaft driving gears, 24-transmission output shaft spline hubs, 25-combination sleeves, 26-transmission output shaft driving gears, combination gear rings and 27-transmission output shaft driven gears;
in fig. 3: 28-return springs, 29-swash plate guide covers, 30-swash plate guide cover electromagnetic valves, 31-swash plates, 32-plungers, 33-plunger cylinders, 34-oil distribution discs and 35-plunger pump rotors.
Detailed Description
The invention will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the invention.
Referring to fig. 1, an intelligent auxiliary steering assist system using braking energy according to the present invention includes: the 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 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 1 is connected with a steering column assembly, and the steering column assembly comprises: steering shaft 2, steering gear 3, steering rocker 18; the output end of the steering wheel 1 is connected with the input end of the steering shaft 2, the torque sensor is arranged on the steering shaft 2, the output end of the steering shaft 2 is connected with the input end of the steering gear 3, the steering gear 3 is provided with an oil inlet and an oil outlet, and the output end of the steering gear 3 is connected with the steering rocker 18;
the hydraulic assist device includes: the oil storage tank 6, the motor pump 9, the first one-way check valve 7, the third one-way check valve 12, the fifth one-way check valve 17 and the overflow valve 19, the first three-way valve 5, the second three-way valve 13, the third three-way valve 16, the fourth three-way valve 4, the pressure sensor 14 and the 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; the oil storage tank 6 is connected with an oil inlet of the first three-way valve 5 through an oil pipe, a first oil outlet of the first three-way valve 5 is connected with the 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, hydraulic oil flows from the first three-way valve 5 to the motor pump 9, the motor pump 9 is connected with a first oil inlet of the 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, hydraulic oil flows 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 the 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, the first oil outlet of the third three-way valve 16 is connected with an overflow valve 19 through an oil pipe, the overflow valve 19 is connected with a second oil inlet of the fourth three-way valve 4 through an oil pipe, a third oil outlet of the third three-way valve 16 is connected with an oil inlet of the steering device 3 through an oil pipe, and a third one-way valve 3 is connected with an oil outlet of the steering device 3 through a fifth three-way valve 3 through an oil pipe 3, and a three-way valve 3 is connected with the oil outlet of the steering device 3 through a third three-way valve 4;
the auxiliary hydraulic assist device includes: a plunger pump 10, a second one-way check valve 8, a fourth one-way check valve 11; the low-pressure inlet of the plunger pump 10 is connected with the second oil port of the first three-way valve 5 through an oil pipe, a second one-way check valve 8 is arranged 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, the high-pressure outlet of the plunger pump 10 is connected with the second oil inlet of the second three-way valve 13 through the oil pipe, and a fourth one-way check valve 11 is arranged in the oil pipe between the plunger pump 10 and the second three-way valve 13, so that 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 along 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 combining sleeve 25 and is electrically connected with the main controller;
the main controller controls the open/close states of the relief valve 19, the clutch solenoid valve 21 and the rotation 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.
Wherein the first three-way valve 5 is a valve element with one inlet and two outlets.
Wherein the second three-way valve 13 is a two-in one-out valve.
Wherein the third three-way valve 16 is a valve element with one inlet and two outlets.
The fourth three-way valve 4 is a valve element with two inlets and one outlet.
Wherein the diverter 3 is a constant flow diverter.
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 signal that a brake pedal is stepped on and sent by the brake pedal pressure sensor, the main controller controls the plunger pump clutch device to achieve a combination state, the main controller receives a signal that the brake pedal is released and sent by the brake pedal pressure sensor, and the main controller controls the plunger pump clutch device to achieve a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to be in a real-time combined state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering power 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 way, the brake pedal is pressed when the brake pedal pressure is greater than zero, and the brake pedal pressure is equal to zero and the brake pedal is released.
In addition, the torque sensor is used for measuring the rotation direction and the torque of the steering wheel, wherein the moment is zero, and the steering wheel is not rotated, and the moment is not zero, and the steering wheel is rotated.
The steering wheel rotation is divided into left turn and right turn, with a moment greater than zero indicating steering wheel right turn and a moment less than zero indicating steering wheel left turn.
The vehicle speed sensor is used for measuring the speed of the vehicle; the main controller calculates the needed 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 using a power-assisted characteristic curve chart, and then calculates the theoretical pressure of hydraulic oil needed by the steering gear according to the geometric dimension of a power-assisted cylinder; the boosting characteristic curve graph is a three-dimensional MAP graph of boosting torque changing along with the change of the vehicle speed and the input torque of the steering wheel.
The pressure sensor is used for measuring the actual pressure of hydraulic oil in an oil way 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 operation 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 way between the second three-way valve and the third three-way valve, and the actual flow is used for calibration experiments.
In the example, the leakage amount in the hydraulic element increases along with the increase of working pressure and fit clearance, so that the effective hydraulic medium capacity 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 capacity of the hydraulic medium added in unit time of the hydraulic system is equal to the internal leakage quantity of the hydraulic element, namely, the hydraulic system completely leaks, so that the pressure of the hydraulic system cannot reach the design pressure; in order to ensure quick and effective pressure build-up, 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 build-up time and the theoretical pressure, and the result obtained by the calibration experiment is a pressure build-up characteristic curve chart; the theoretical pressure is controlled by an overflow valve; the pressure build-up time is acceptable pressure build-up time manually set; the theoretical pressure is calculated by aid of the power-assisted torque, the required actual flow is calculated by aid of the pressure building time and the pressure building characteristic curve, the required actual flow is provided by the motor pump and the plunger pump together, the flow provided by the plunger pump can be calculated by aid of the vehicle speed, accordingly, the flow required to be provided by the motor pump can be calculated, the pre-working rotating speed of the motor pump is further calculated, the main controller controls the motor pump to achieve the pre-working rotating speed, and the pressure building time is shortened.
The hydraulic component includes: a fourth three-way valve 4, a first three-way valve 5, a reservoir 6, a first one-way check valve 7, a second one-way check valve 8, a motor pump 9, a plunger pump 10, a fourth one-way check valve 11, a third one-way check valve 12, a second three-way valve 13, a third three-way valve 16, a fifth one-way check valve 17 and an overflow valve 19.
The clutch device of the plunger pump controls the connection of the combining sleeve 25 and the transmission output shaft driving gear combining gear ring 26 through the clutch electromagnetic valve 21 so that the transmission output shaft driving gear 23 and the transmission output shaft spline hub 24 synchronously rotate, thereby driving the transmission output shaft driving gear 23 to rotate, the synchronizer 22 is positioned between the transmission output shaft spline hub 24 and the transmission output shaft driving gear combining gear ring 26, the combination of the transmission output shaft spline hub 24 and the transmission output shaft driving gear combining gear ring 26 is ensured, and the transmission output shaft driving gear 23 drives the transmission output shaft driven gear 27 to rotate so as to drive the plunger pump 10 to work.
The plunger pump 10 is a swash plate type axial plunger pump, and includes: a return spring 28, a swash plate guide cover 29, a swash plate guide cover electromagnetic valve 30, a swash plate 31, a plunger 32, a plunger cylinder 33, an oil distribution disc 34, and a plunger pump rotor 35; the return spring 28 is positioned on one side of the swash plate guide cover 29 without the swash plate 31 and is connected with the swash plate guide cover 29, the electromagnetic valve 30 of the swash plate guide cover is connected with the swash plate guide cover 29 on one 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 body 33 through six plungers 32 which are uniformly distributed on the circumference, and the plunger cylinder body 33 is connected with the plunger pump rotor 35 through splines and rotates synchronously, and the oil distribution disc 34 attached to the plunger cylinder body 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 assist system using braking energy according to the present invention includes the following steps based on the above system:
1) The main controller receives information acquired by the vehicle speed sensor, the brake pedal sensor and the torque sensor respectively and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) When the speed of the vehicle is zero, the main controller controls the 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 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 the 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 combination gear ring, and the method specifically comprises the following steps of:
21 The main controller enables the combination sleeve to be combined with the transmission output shaft driving gear combination gear ring through controlling the clutch electromagnetic valve;
22 A transmission output shaft rotates synchronously with a transmission output shaft driving gear;
23 A transmission output shaft driving gear is meshed with a transmission output shaft driven gear and drives the transmission output shaft driven gear to rotate in 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 absorb oil from an oil storage tank with low oil pressure and release high-pressure oil to a steering gear.
3) When the vehicle speed is not zero and the brake pedal is released, the main controller controls the clutch electromagnetic valve of the plunger pump clutch device to separate the combination sleeve from 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;
4) When the vehicle speed is not zero and the brake pedal is stepped down, the main controller controls the 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, at the moment, the plunger pump works, 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 way;
wherein, the main control unit controls the motor pump to work in combination with the plunger pump specifically includes the following steps:
41 The main controller receives an input torque signal of the steering wheel collected by the torque sensor, and calculates a vehicle load according to a vehicle speed signal collected by the vehicle speed sensor, so as to further calculate the theoretical pressure of the power assistance required by the steering gear;
42 The main controller obtains the required actual flow through the pressure building characteristic curve graph according to the pressure building time and the theoretical pressure;
43 The main controller calculates the flow required to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, and further obtains 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 and compares the actual pressure signal with the theoretical pressure, and if the theoretical pressure is larger than the actual pressure, the main controller controls the overflow valve to be closed, and the rotation speed of the motor pump is increased; if the theoretical pressure is smaller than the actual pressure and the rotation 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 motor pump rotation speed is larger than zero, the main controller controls the overflow valve to be closed, and the motor pump rotation speed is reduced.
In a preferred example, the flow calculation 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 plunger pump rotor is alpha, and the rotation diameter of the axis of the plungers around the axis of the plunger pump rotor is D;
432 According to the working characteristics of the swash plate type axial plunger pump, a formula of the flow provided by the plunger pump is obtained:
wherein n is the wheel rotation speed, i 0 Is the transmission ratio of the main speed reducer, i 1 Is the transmission ratio of the clutch device of the plunger pump.
The present invention has been described in terms of the preferred embodiments thereof, and it should be understood by those skilled in the art that various modifications can be made without departing from the principles of the invention, and such modifications should also be considered as being within the scope of the invention.

Claims (10)

1. An intelligent auxiliary steering assist system utilizing braking energy, comprising: the 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 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: steering shaft, steering gear and steering rocker arm; the output end of the steering wheel is connected with the input end of the steering shaft, the torque sensor is arranged on the steering shaft, the output end of the steering shaft is connected with the input end of the 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 the steering rocker arm;
the hydraulic assist device includes: 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 and an overflow valve, wherein the first three-way valve, the second three-way valve, the third three-way valve, the 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 a first three-way valve through an oil pipe, a first oil outlet of the first three-way valve is connected with a 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, so that hydraulic oil flows from the first three-way valve to the motor pump, the motor pump is connected with a first oil inlet of a 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, so that hydraulic oil flows 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 a 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, the first oil outlet of the third three-way valve is connected with an overflow valve through an oil pipe, the second overflow valve is connected with a second oil inlet of a fourth three-way valve through an oil pipe, a fifth one-way check valve is arranged on the oil pipe between the third three-way valve and a steering gear, so that hydraulic oil flows from the third three-way valve to the steering gear through an oil inlet of the fourth three-way valve, and the oil outlet of the steering gear is connected with the oil tank through an oil inlet of the fourth three-way valve;
the auxiliary hydraulic assist device includes: a plunger pump, a second one-way check valve, a fourth one-way check valve; the 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, so that hydraulic oil flows from the first three-way valve to the plunger pump, the high-pressure outlet of the plunger pump is connected with a second oil inlet of the second three-way valve through the 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, so that hydraulic oil flows from the plunger pump to the second three-way valve;
the plunger pump clutch device comprises: the transmission 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 electromagnetic valve; the combination sleeve rotates synchronously with the spline hub of the transmission output shaft and slides on the spline hub of the transmission output shaft along the axial direction of the transmission output shaft; the transmission output shaft driving gear is combined with the gear ring and is attached to the transmission output shaft driving gear and synchronously rotates, and the synchronizer is arranged between the transmission output shaft driving gear combined with the 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 combining sleeve and is electrically connected with the main controller;
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 auxiliary steering assist system utilizing braking energy as set forth in claim 1, wherein the first three-way valve is a two-in valve element; the second three-way valve is a valve element with two inlets and one outlet; the third three-way valve is a valve element with one inlet and two outlets; the fourth three-way valve is a valve element with two inlets and one outlet.
3. The intelligent auxiliary steering assist system utilizing braking energy of claim 1 wherein the steering gear is a constant flow steering gear.
4. The intelligent auxiliary steering assist system utilizing 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 signal that a brake pedal sent by the brake pedal pressure sensor is stepped on, the main controller controls the plunger pump clutch device to achieve a combination state, the main controller receives a signal that the brake pedal sent by the brake pedal pressure sensor is released, and the main controller controls the plunger pump clutch device to achieve a separation state; when the vehicle speed is zero, the main controller controls the plunger pump clutch device to be in a real-time combined state; when the plunger pump clutch device is in a separation state or the vehicle speed is zero, the steering power assisting is realized by a motor pump; when the plunger pump clutch device is in a combined state, the steering power is controlled by the motor pump and the plunger pump in a combined mode, the brake pedal is pressed when the brake pedal pressure is greater than zero, and the brake pedal pressure is equal to zero and is released when the brake pedal is released.
5. The intelligent auxiliary steering assist system utilizing braking energy as set forth in claim 1, wherein said vehicle speed sensor is for measuring vehicle speed; the main controller calculates the needed 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 using a power-assisted characteristic curve chart, and then calculates the theoretical pressure of hydraulic oil needed by the steering gear according to the geometric dimension of a power-assisted cylinder; the boosting characteristic curve graph is a three-dimensional MAP graph of boosting torque changing along with the change of the vehicle speed and the input torque of the steering wheel.
6. The intelligent auxiliary power steering system using braking energy according to claim 1, wherein the pressure sensor is used for measuring an 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 a theoretical pressure, and when the brake pedal is depressed, the main controller controls the combined operation of the motor pump and the plunger pump.
7. A control method of an intelligent auxiliary steering assistance system using braking energy, based on the system according to any one of claims 1-6, characterized by comprising the steps of:
1) The main controller receives information acquired by the vehicle speed sensor, the brake pedal sensor and the torque sensor respectively and controls the working states of the plunger pump clutch device and the motor pump according to the received information;
2) When the speed of the vehicle is zero, the main controller controls the 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 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 vehicle speed is not zero and the brake pedal is released, the main controller controls the clutch electromagnetic valve of the plunger pump clutch device to separate the combination sleeve from 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;
4) When the vehicle speed is not zero and the brake pedal is stepped down, the main controller controls the 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, at the moment, the plunger pump works, 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 control method of an intelligent auxiliary power steering system using braking energy according to claim 7, wherein the step 2) of the main controller controlling the clutch solenoid valve of the clutch device of the plunger pump to combine the combining sleeve with the driving gear of the transmission output shaft to combine with the 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 through controlling the clutch electromagnetic valve;
22 A transmission output shaft rotates synchronously with a transmission output shaft driving gear;
23 A transmission output shaft driving gear is meshed with a transmission output shaft driven gear and drives the transmission output shaft driven gear to rotate in 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 absorb oil from an oil storage tank with low oil pressure and release high-pressure oil to a steering gear.
9. The method for controlling an intelligent auxiliary power steering system using braking energy according to claim 7, wherein the main controller in step 4) controls the motor pump to work in combination with the plunger pump, specifically comprising the steps of:
41 The main controller receives an input torque signal of the steering wheel collected by the torque sensor, and calculates a vehicle load according to a vehicle speed signal collected by the vehicle speed sensor, so as to further calculate the theoretical pressure of the power assistance required by the steering gear;
42 The main controller obtains the required actual flow through the pressure building characteristic curve graph according to the pressure building time and the theoretical pressure;
43 The main controller calculates the flow required to be provided by the motor pump according to the required actual flow and the flow provided by the plunger pump, and further obtains 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 and compares the actual pressure signal with the theoretical pressure, and if the theoretical pressure is larger than the actual pressure, the main controller controls the overflow valve to be closed, and the rotation speed of the motor pump is increased; if the theoretical pressure is smaller than the actual pressure and the rotation 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 motor pump rotation speed is larger than zero, the main controller controls the overflow valve to be closed, and the motor pump rotation speed is reduced.
10. The method for controlling an intelligent auxiliary power steering system using braking energy according to claim 9, wherein the flow calculation provided by the plunger pump in step 43) specifically includes the steps of:
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 plunger pump rotor is alpha, and the rotation diameter of the axis of the plungers around the axis of the plunger pump rotor is D;
432 According to the working characteristics of the swash plate type axial plunger pump, a formula of the flow provided by the plunger pump is obtained:
wherein n is the rotation speed of the wheel,is the transmission ratio of the main speed reducer>Is the transmission ratio of the clutch device of the plunger pump.
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