CN115257918B - Electronic hydraulic power-assisted steering system, vehicle and control method - Google Patents
Electronic hydraulic power-assisted steering system, vehicle and control method Download PDFInfo
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- CN115257918B CN115257918B CN202211084150.6A CN202211084150A CN115257918B CN 115257918 B CN115257918 B CN 115257918B CN 202211084150 A CN202211084150 A CN 202211084150A CN 115257918 B CN115257918 B CN 115257918B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 35
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 166
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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Abstract
The application provides an electronic hydraulic power steering system, a vehicle and a control method. The electro-hydraulic power steering system comprises a steering device, an electro-hydraulic power steering assembly, a steering oil pump assembly, an energy supply assembly and a redundancy assembly. The steering device is in driving connection with the wheels. The electro-hydraulic power steering gear assembly comprises a first electro-hydraulic power steering gear and a second electro-hydraulic power steering gear which are respectively connected with the steering device. The steering oil pump assembly comprises a first steering oil pump for supplying oil to the first electro-hydraulic power steering gear and a second steering oil pump for supplying oil to the second electro-hydraulic power steering gear. The energy supply assembly comprises a plurality of energy supply pieces, the redundant assembly comprises a plurality of redundant energy supply pieces corresponding to the plurality of energy supply pieces one by one, each redundant energy supply piece is configured to be backed up with the corresponding energy supply piece, and when the corresponding energy supply piece fails, the work of the corresponding energy supply piece is taken over, so that the steering capacity of the electro-hydraulic power-assisted steering system cannot be influenced, and the potential safety hazard existing in a vehicle is reduced.
Description
Technical Field
The application relates to the technical field of vehicle steering, in particular to an electro-hydraulic power-assisted steering system, a vehicle and a control method.
Background
Steering is one of the most common operations when a vehicle is driven, and is very dangerous when the steering of the vehicle is problematic, so stability of the steering ability of the vehicle is very important. In some vehicles, an electro-hydraulic power-assisted steering system is adopted to improve stability and operability during steering, but after long-time running, some parts in the electro-hydraulic power-assisted steering system are inevitably failed, and at the moment, the steering capacity of the vehicle is greatly affected, so that certain potential safety hazards exist.
Disclosure of Invention
Based on this, it is necessary to provide an electro-hydraulic power steering system, a vehicle, and a control method for solving the problem that the steering ability of the vehicle is greatly affected when some components in the electro-hydraulic power steering system fail.
According to a first aspect of the present application, there is provided an electro-hydraulic power steering system comprising:
The steering device is used for being in driving connection with the wheels;
The electro-hydraulic power assisted steering device assembly comprises a first electro-hydraulic power assisted steering device and a second electro-hydraulic power assisted steering device, wherein the first electro-hydraulic power assisted steering device and the second electro-hydraulic power assisted steering device are respectively connected with the steering device so as to drive the wheels to steer;
The steering oil pump assembly comprises a first steering oil pump and a second steering oil pump, and the first steering oil pump is connected with the first electro-hydraulic power-assisted steering device and used for supplying oil to the first electro-hydraulic power-assisted steering device; the second steering oil pump is connected with the second electro-hydraulic power steering gear and used for supplying oil to the second electro-hydraulic power steering gear;
The energy supply assembly comprises a plurality of energy supply pieces, and the energy supply pieces are used for respectively supplying energy to the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump so as to enable the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump to work; and
The redundant assembly comprises a plurality of redundant energy supply pieces which are in one-to-one correspondence with the energy supply pieces, wherein each redundant energy supply piece is configured to be backed up with the corresponding energy supply piece, and takes over the work of the corresponding energy supply piece when the corresponding energy supply piece fails.
In one embodiment, the plurality of energy supply pieces include two first power sources and two high-voltage power sources, and the two first power sources are used for respectively providing power for the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear;
the two high-voltage power supplies are used for respectively providing power for the first steering oil pump and the second steering oil pump;
The redundant energy supply pieces comprise two second power supplies which are in one-to-one correspondence with the first power supplies and two low-voltage power supplies which are in one-to-one correspondence with the high-voltage power supplies;
each of the second power supplies is configured to supply electric power to the first electro-hydraulic power steering or the second electro-hydraulic power steering when the corresponding first power supply fails;
Each of the low-voltage power sources is configured to supply electric power to the first steering oil pump or the second steering oil pump when the corresponding high-voltage power source fails.
In one embodiment, the plurality of energy supply pieces further comprises two first motors, and the two first motors are used for being respectively connected with the worm of the first electro-hydraulic power steering gear and the worm of the second electro-hydraulic power steering gear in a driving way;
the redundant energy supply pieces comprise two second motors corresponding to the two first motors, and each second motor is used for driving the worm of the first electro-hydraulic power steering device or the worm of the second electro-hydraulic power steering device to rotate when the corresponding first motor fails.
In one embodiment, a first oil supply pipeline is arranged between the first steering oil pump and the first electro-hydraulic power-assisted steering device;
A second oil supply pipeline is arranged between the second steering oil pump and the second electro-hydraulic power steering gear;
The redundant assembly further comprises a communication pipeline which is communicated with the first oil supply pipeline and the second oil supply pipeline and an electromagnetic proportional valve which is arranged on the communication pipeline, wherein the electromagnetic proportional valve is used for being opened when any one of the first steering oil pump and the second steering oil pump fails so as to be communicated with the first oil supply pipeline and the second oil supply pipeline.
In one embodiment, the system further comprises a controller, wherein a communication line is arranged between the controller and each energy supply piece, and the controller is used for receiving the working information of each energy supply piece and controlling the corresponding redundant energy supply piece to work when the working information is abnormal;
The redundant assembly further comprises a plurality of redundant communication lines which are arranged in one-to-one correspondence with the communication lines, and each redundant communication line is used for enabling the corresponding energy supply piece to be connected with the controller when the corresponding communication line fails.
In one embodiment, the steering device comprises a first steering axle, a first steering drive axle, a second steering axle and a second steering drive axle, wherein the first steering axle, the first steering drive axle, the second steering axle and the second steering drive axle are respectively in driving connection with the wheels;
The electro-hydraulic power steering device assembly further comprises a third electro-hydraulic power steering device and a fourth electro-hydraulic power steering device, and the first electro-hydraulic power steering device is in driving connection with the first steering axle; the second electro-hydraulic power-assisted steering device is in driving connection with the first steering drive axle; the third electro-hydraulic power-assisted steering device is in driving connection with the second steering axle, and the fourth electro-hydraulic power-assisted steering device is in driving connection with the second steering axle;
The steering oil pump assembly further comprises a third steering oil pump and a fourth steering oil pump, and the third steering oil pump is communicated with the third electro-hydraulic power-assisted steering device so as to supply oil to the third electro-hydraulic power-assisted steering device; the fourth steering oil pump is communicated with the fourth electro-hydraulic power steering gear to supply oil to the fourth electro-hydraulic power steering gear.
According to a second aspect of the application, a vehicle is proposed, comprising an electro-hydraulic power assisted steering system as described above:
The steering device is used for being in driving connection with the wheels;
The electro-hydraulic power assisted steering device assembly comprises a first electro-hydraulic power assisted steering device and a second electro-hydraulic power assisted steering device, wherein the first electro-hydraulic power assisted steering device and the second electro-hydraulic power assisted steering device are respectively connected with the steering device so as to drive the wheels to steer;
The steering oil pump assembly comprises a first steering oil pump and a second steering oil pump, and the first steering oil pump is connected with the first electro-hydraulic power-assisted steering device and used for supplying oil to the first electro-hydraulic power-assisted steering device; the second steering oil pump is connected with the second electro-hydraulic power steering gear and used for supplying oil to the second electro-hydraulic power steering gear;
The energy supply assembly comprises a plurality of energy supply pieces, and the energy supply pieces are used for respectively supplying energy to the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump so as to enable the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump to work; and
The redundant assembly comprises a plurality of redundant energy supply pieces which are in one-to-one correspondence with the energy supply pieces, wherein each redundant energy supply piece is configured to be backed up with the corresponding energy supply piece, and takes over the work of the corresponding energy supply piece when the corresponding energy supply piece fails.
According to a third aspect of the present application, there is provided a control method, applied to a vehicle as described above, comprising:
Monitoring the working state of each energy supply piece;
and when the energy supply piece fails, controlling the corresponding redundant energy supply piece to work.
In one embodiment, the plurality of energy supply pieces include two first power sources and two high-voltage power sources, and the two first power sources are used for respectively supplying power to the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear; the two high-voltage power supplies are used for respectively supplying power to the first steering oil pump and the second steering oil pump; the redundant energy supply pieces comprise two second power supplies which are in one-to-one correspondence with the two first power supplies and two low-voltage power supplies which are in one-to-one correspondence with the two high-voltage power supplies;
when the energy supply piece fails, controlling the corresponding redundant energy supply piece to work specifically comprises the following steps:
When the first power supply fails, controlling the second power supply corresponding to the failed first power supply to work;
when the high-voltage power supply fails, the low-voltage power supply corresponding to the failed high-voltage power supply is controlled to work.
In one embodiment, a first oil supply pipeline is arranged between the first steering oil pump and the first electro-hydraulic power-assisted steering device; a second oil supply pipeline is arranged between the second steering oil pump and the second electro-hydraulic power steering gear; the redundant assembly further comprises a communication pipeline for communicating the first oil supply pipeline and the second oil supply pipeline and an electromagnetic proportional valve arranged on the communication pipeline;
After the monitoring of the working state of each energy supply piece, the method further comprises the following steps:
when any one of the first steering oil pump and the second steering oil pump fails, the electromagnetic proportional valve is controlled to be opened;
And adjusting the opening degree of the electromagnetic proportional valve so that the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear work normally.
In the technical scheme of the application, the first steering oil pump supplies oil to the first electro-hydraulic power steering gear, and the second steering oil pump supplies oil to the second electro-hydraulic power steering gear, so that the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear drive the steering device through oil pressure, and the wheels finish steering. It is to be noted that, in the application, the plurality of energy supply pieces are all provided with redundant energy supply pieces which are backed up, so that when the energy supply pieces fail, the redundant energy supply pieces can rapidly take over the work of the failed energy supply pieces, thereby ensuring that the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump work normally. Therefore, when the energy supply piece has unexpected faults, the redundant energy supply piece can timely take over the work, so that the steering capacity of the electro-hydraulic power-assisted steering system cannot be affected, and the potential safety hazard of a vehicle is reduced.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an electro-hydraulic power steering system according to the present application;
FIG. 2 is a flow chart of an embodiment of a control method according to the present application;
fig. 3 is a flow chart of another embodiment of the control method provided by the present application.
Reference numerals illustrate:
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Steering is one of the most common operations when a vehicle is driven, and is very dangerous when the steering of the vehicle is problematic, so stability of the steering ability of the vehicle is very important. In some vehicles, an electro-hydraulic power-assisted steering system is adopted to improve stability and operability during steering, but after long-time running, some parts in the electro-hydraulic power-assisted steering system are inevitably failed, and at the moment, the steering capacity of the vehicle is greatly affected, so that certain potential safety hazards exist.
In view of this, the present application proposes a vehicle including an electro-hydraulic power steering system, and all vehicles as long as they include the electro-hydraulic power steering system belong to the present application. Fig. 1 is a schematic structural diagram of an electro-hydraulic power steering system according to an embodiment of the present application.
Referring to fig. 1, the present application proposes an electro-hydraulic power steering system 100, wherein the electro-hydraulic power steering system 100 includes a steering device 1, an electro-hydraulic power steering assembly 2, a steering oil pump assembly 3, an energy supply assembly and a redundancy assembly 4. The steering device 1 is intended for driving connection with a wheel. The electro-hydraulic power steering device assembly 2 comprises a first electro-hydraulic power steering device 21 and a second electro-hydraulic power steering device 22, and the first electro-hydraulic power steering device 21 and the second electro-hydraulic power steering device 22 are respectively connected with the steering device 1 so as to drive wheels to steer.
The steering oil pump assembly 3 comprises a first steering oil pump 31 and a second steering oil pump 32, wherein the first steering oil pump 31 is connected with the first electro-hydraulic power steering gear 21 and is used for supplying oil to the first electro-hydraulic power steering gear 21; the second steering oil pump 32 is connected to the second electric power steering gear 22 for supplying oil to the second electric power steering gear 22.
The energy supply assembly comprises a plurality of energy supply pieces, and the plurality of energy supply pieces are used for respectively supplying energy to the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 so as to enable the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 to work respectively.
The redundant assembly 4 includes a plurality of redundant power supply pieces in one-to-one correspondence with the plurality of power supply pieces, each configured to be mutually backed up with the corresponding power supply piece, and take over the operation of the corresponding power supply piece when the corresponding power supply piece fails.
In the technical scheme of the application, the first steering oil pump 31 supplies oil to the first electro-hydraulic power steering gear 21, and the second steering oil pump 32 supplies oil to the second electro-hydraulic power steering gear 22, so that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 drive the steering device 1 through oil pressure, and the wheels finish steering. It should be noted that, the redundant energy supply members are provided with the redundant energy supply members, so that when the energy supply member fails, the redundant energy supply member can rapidly take over the work of the failed energy supply member, thereby ensuring that the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 work normally. Therefore, when the energy supply piece fails accidentally, the redundant energy supply piece can take over the work in time, so that the steering capability of the electro-hydraulic power steering system 100 is not affected, and the potential safety hazard of the vehicle is reduced.
In particular applications, the energy supply elements in the electro-hydraulic power steering system 100 may operate individually, when a failure occurs in an energy supply element, the corresponding redundant energy supply element is turned on, and the operation of the failed energy supply element is replaced. The energy supply member may also work together with the redundant energy supply member, so that the working efficiency can be increased, and when one of the energy supply member fails and one of the redundant energy supply member fails, the other one of the energy supply member can continue to work, so that the steering capability of the electro-hydraulic power steering system 100 is not affected.
In some embodiments, the plurality of power supplies includes two first power supplies for providing power to the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22, respectively, and two high voltage power supplies. The two high-voltage power sources are used to supply electric power to the first steering oil pump 31 and the second steering oil pump 32, respectively. The redundant energy supply pieces comprise two second power supplies corresponding to the first power supplies one by one and two low-voltage power supplies corresponding to the high-voltage power supplies one by one. Each second power source is used to supply electric power to the first electric-hydraulic power steering gear 21 or the second electric-hydraulic power steering gear 22 in the event of a failure of the corresponding first power source. Each low-voltage power source is used to supply electric power to the first steering oil pump 31 or the second steering oil pump 32 in the event of a failure of the corresponding high-voltage power source.
In this embodiment, the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 all require electric power to work normally, so the plurality of energy supply members include two first power sources and two high-voltage power sources. When the first power source fails, the first and second electro-hydraulic power steering gears 21 and 22 may not work properly. However, in this embodiment, two second power supplies may replace two first power supplies to supply power to the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22, so as to ensure that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 are not affected when the first power supplies are damaged, and keep working normally.
When the high-voltage power source fails, the first steering oil pump 31 and the second steering oil pump 32 may not work normally. In this embodiment, however, two low-voltage power sources can replace two high-voltage power sources to supply power to the first steering oil pump 31 and the second steering oil pump 32, so that the first steering oil pump 31 and the second steering oil pump 32 are not affected when the high-voltage power sources are damaged, and normal operation is maintained.
In some embodiments, the plurality of power supply elements further comprises two first motors for driving connection with the worm of the first electro-hydraulic power steering gear 21 and the worm of the second electro-hydraulic power steering gear 22, respectively. The plurality of redundant power supplies includes two second motors provided corresponding to the two first motors, each of the second motors being configured to drive the worm of the first electro-hydraulic power steering gear 21 or the worm of the second electro-hydraulic power steering gear 22 to rotate when the corresponding first motor fails.
In a specific application, the electro-hydraulic power steering system 100 may be applied to an unmanned vehicle, where the unmanned vehicle does not have a driver to turn a steering wheel while driving, so the vehicle controller 5 is required to control the rotation of the two first motors, so that the first electro-hydraulic power steering device 21 and the second electro-hydraulic power steering device 22 steer.
In this embodiment, the energy supply member further includes two first motors for driving the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 to steer, when the two first motors fail, the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 cannot normally start to steer, and an accident may occur in the unmanned vehicle. In this embodiment, however, the plurality of redundant energy supply members includes two second motors disposed corresponding to the two first motors, and the two second motors are used to drive the first electro-hydraulic power steering device 21 or the second electro-hydraulic power steering device 22 to steer in time when the first motor fails, so as to ensure the normal running of the unmanned vehicle.
In some embodiments, a first oil supply line is provided between the first steering oil pump 31 and the first electro-hydraulic power steering 21. A second oil supply line is provided between the second steering oil pump 32 and the second electro-hydraulic power steering gear 22. The redundant assembly 4 further comprises a communication pipeline 41 for communicating the first oil supply pipeline and the second oil supply pipeline, and an electromagnetic proportional valve 42 arranged on the communication pipeline 41, wherein the electromagnetic proportional valve 42 is used for opening when any one of the first steering oil pump 31 and the second steering oil pump 32 fails so as to communicate the first oil supply pipeline and the second oil supply pipeline.
The first steering oil pump 31 and the second steering oil pump 32 have the same risk of failure, and when the first steering oil pump 31 and the second steering oil pump 32 fail, the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 cannot acquire hydraulic oil, and thus cannot work normally. Thus, in the present embodiment, the redundancy assembly 4 further includes a communication pipe 41 for communicating the first oil supply pipe with the second oil supply pipe and an electromagnetic proportional valve 42 mounted on the communication pipe 41, and when any one of the first steering oil pump 31 and the second steering oil pump 32 fails, the electromagnetic proportional valve 42 is opened to communicate the first oil supply pipe with the second oil supply pipe, thereby allowing the other one of the first steering oil pump 31 and the second steering oil pump 32 to simultaneously supply oil to the first electro-hydraulic power steering 21 and the second electro-hydraulic power steering 22.
It should be noted that the electromagnetic proportional valve 42 can adjust the flow rate and the opening degree, so that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 can both obtain a proper amount of hydraulic oil, thereby ensuring that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 keep working normally when any one of the first steering oil pump 31 and the second steering oil pump 32 fails.
In some embodiments, the electro-hydraulic power steering system 100 further includes a controller 5, where a communication line is disposed between the controller 5 and each energy supply element, and the controller 5 is configured to receive the operation information of each energy supply element, and control the operation of the corresponding redundant energy supply element when the operation information is abnormal. The redundant assembly 4 further includes a plurality of redundant communication lines disposed in one-to-one correspondence with the communication lines, each for maintaining connection between the corresponding power supply and the controller 5 upon failure of the corresponding communication line.
When some of the energy supply pieces fail, the controller 5 needs to control the corresponding redundant energy supply pieces to take over the work. In this process, the controller 5 needs to determine whether the operation state of the power supply member is normal. Therefore, a communication line is arranged between the controller 5 and each energy supply piece, so that the working state of the energy supply piece is judged through the working information, and the redundant energy supply piece can timely take over the working of the failed energy supply piece.
When the communication line fails, the controller 5 will not receive the working information, and thus cannot accurately determine the working state of the energy supply member. The redundant assembly 4 is therefore also provided with redundant communication lines, so as to ensure a stable connection between the energy supply element and the controller 5, and thus ensure that the redundant energy supply element can take over the work of the failed energy supply element in time and accurately.
In some embodiments, the steering device 1 includes a first steering axle 11, a first steering drive axle 12, a second steering axle 13, and a second steering drive axle 14, where the first steering axle 11, the first steering drive axle 12, the second steering axle 13, and the second steering drive axle 14 are respectively connected with the wheels in a driving manner.
The electrohydraulic power steering assembly 2 further comprises a third electrohydraulic power steering device 23 and a fourth electrohydraulic power steering device 24, the first electrohydraulic power steering device 21 is in driving connection with the first steering axle 11, and the second electrohydraulic power steering device 22 is in driving connection with the first steering drive axle 12. The third electro-hydraulic power steering device 23 is in driving connection with the second steering axle 13, and the fourth electro-hydraulic power steering device 24 is in driving connection with the second steering drive axle 14.
The steering oil pump assembly 3 further includes a third steering oil pump 33 and a fourth steering oil pump 34, the third steering oil pump 33 being in communication with the third electro-hydraulic power steering 23 to supply oil to the third electro-hydraulic power steering 23. The fourth steering oil pump 34 communicates with the fourth electro-hydraulic power steering 24 to supply oil to the fourth electro-hydraulic power steering 24.
In specific applications, the vehicle may be set for single-axle steering, or for multi-axle co-steering. When the multi-axis cooperative steering is provided, the steering device 1 includes a first steering axle 11, a first steering drive axle 12, a second steering drive axle 13, and a second steering drive axle 14. The steering capability of the multi-axis cooperative steering is more excellent, and more use requirements can be met.
When the steering device 1 includes the first steering axle 11, the first steering drive axle 12, the second steering axle 13, and the second steering drive axle 14, the electro-hydraulic power steering assembly 2 is provided with the first electro-hydraulic power steering 21, the second electro-hydraulic power steering 22, the third electro-hydraulic power steering 23, and the fourth electro-hydraulic power steering 24, and the steering oil pump assembly 3 is provided with the first steering oil pump 31, the second steering oil pump 32, the third steering oil pump 33, and the fourth steering oil pump 34, respectively. In this embodiment, four sets of electro-hydraulic power steering devices and steering oil pumps corresponding to each other are provided to cooperate with four steering axles, so that the vehicle realizes multi-axle cooperative steering, and the steering capability of the electro-hydraulic power steering system 100 is more excellent.
The present application also proposes a control method applied to a vehicle comprising an electro-hydraulic power steering system 100 according to any of the embodiments described above. Fig. 2 to 3 are schematic flow diagrams of a control method according to an embodiment of the application. Referring to fig. 2, the control method includes:
S10: the operating state of each energy supply piece is monitored.
S20: and when the energy supply piece fails, controlling the corresponding redundant energy supply piece to work.
In this embodiment, the controller 5 monitors the working state of each energy supply member in real time to determine whether each energy supply member fails, and when there is a failure in the energy supply member, the controller 5 controls the corresponding redundant energy supply member to take over the work. The controller 5 can monitor the working state of each energy supply piece in real time, so that the redundant energy supply piece can timely take over the work of the failed energy supply piece, the gap of alternate work is reduced, and the steering capacity of the vehicle is kept stable.
In some embodiments, the plurality of power supplies includes two first power supplies for powering the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22, respectively, and two high voltage power supplies. The two high-voltage power sources are used for supplying power to the first steering oil pump 31 and the second steering oil pump 32, respectively. The redundant energy supply pieces comprise two second power supplies which are in one-to-one correspondence with the two first power supplies and two low-voltage power supplies which are in one-to-one correspondence with the two high-voltage power supplies.
The step S20 specifically includes:
S21: when the first power supply fails, the second power supply corresponding to the failed first power supply is controlled to work.
S22: when the high-voltage power supply fails, the low-voltage power supply corresponding to the failed high-voltage power supply is controlled to operate.
In this embodiment, when the first power supply fails, the first electro-hydraulic power steering gear 21 or the second electro-hydraulic power steering gear 22 cannot work normally, and the controller 5 immediately controls the corresponding second power supply to take over the work, so as to ensure that the first electro-hydraulic power steering gear 21 or the second electro-hydraulic power steering gear 22 works stably. When the high-voltage power source fails, the first steering oil pump 31 or the second oil pump will not work normally, and then the first electro-hydraulic power steering gear 21 or the second electro-hydraulic power steering gear 22 will not receive hydraulic oil normally, thereby affecting normal operation. The controller 5 will thus control the corresponding power take-over operation, thereby ensuring on the other hand a stable operation of the first electro-hydraulic power steering 21 or the second electro-hydraulic power steering 22.
In some embodiments, a first oil supply line is provided between the first steering oil pump 31 and the first electro-hydraulic power steering 21. A second oil supply line is provided between the second steering oil pump 32 and the second electro-hydraulic power steering gear 22. The redundant assembly 4 further includes a communication pipe 41 that communicates the first oil supply pipe and the second oil supply pipe, and an electromagnetic proportional valve 42 provided on the communication pipe 41.
Referring to fig. 3, step S10 further includes:
s11: when either one of the first steering oil pump 31 and the second steering oil pump 32 fails, the electromagnetic proportional valve 42 is controlled to open.
S12: the opening degree of the electromagnetic proportional valve 42 is adjusted so that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 work normally.
When the first steering oil pump 31 and the second steering oil pump 32 fail, the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 cannot acquire hydraulic oil, and therefore cannot work normally. Therefore, in the present embodiment, when one of the first steering oil pump 31 and the second steering oil pump 32 fails, the electromagnetic proportional valve 42 is controlled to open, so that the first oil supply line is communicated with the second oil supply line, and the other of the first steering oil pump 31 and the second steering oil pump 32 is allowed to supply oil to the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 at the same time, so that the first electro-hydraulic power steering gear 21 and the second electro-hydraulic power steering gear 22 are ensured to work normally.
In the application, the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 can work by arranging the energy supply pieces, and when the energy supply pieces fail, the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32 can not work as well, so that the corresponding redundant energy supply pieces are also arranged in the application, thereby ensuring the stability of the operation of the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31 and the second steering oil pump 32. The energy supply elements include, but are not limited to, the first electro-hydraulic power steering gear 21, the second electro-hydraulic power steering gear 22, the first steering oil pump 31, the second steering oil pump 32, and the motors and power sources, and the redundant energy supply elements can be specifically adjusted according to the energy supply elements.
In addition, the redundant assembly 4 further comprises a redundant communication line, so that the controller 5 can stably control the energy supply piece and the redundant energy supply piece, and the redundant energy supply piece can timely take over the work of the energy supply piece. The redundant assembly 4 is further communicated with the oil supply pipelines of the first steering oil pump 31 and the second steering oil pump 32 through the communication pipeline 41 and the electromagnetic proportional valve 42, so that when any one of the first steering oil pump 31 and the second steering oil pump 32 fails, the other one of the first steering oil pump 31 and the second steering oil pump 32 can simultaneously supply oil to the first electro-hydraulic power-assisted steering device 21 and the second electro-hydraulic power-assisted steering device 22, and the normal operation of the electro-hydraulic power-assisted steering system 100 is ensured.
The electro-hydraulic power-assisted steering system 100 provided by the application is designed in a redundant manner at a plurality of layers, so that the working stability of the electro-hydraulic power-assisted steering system 100 is greatly improved, and the potential safety hazard during the running of a vehicle is also greatly reduced.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (8)
1. An electro-hydraulic power assisted steering system, comprising:
The steering device is used for being in driving connection with the wheels;
The electro-hydraulic power assisted steering device assembly comprises a first electro-hydraulic power assisted steering device and a second electro-hydraulic power assisted steering device, wherein the first electro-hydraulic power assisted steering device and the second electro-hydraulic power assisted steering device are respectively connected with the steering device so as to drive the wheels to steer;
The steering oil pump assembly comprises a first steering oil pump and a second steering oil pump, and the first steering oil pump is connected with the first electro-hydraulic power-assisted steering device and used for supplying oil to the first electro-hydraulic power-assisted steering device; the second steering oil pump is connected with the second electro-hydraulic power steering gear and used for supplying oil to the second electro-hydraulic power steering gear;
The energy supply assembly comprises a plurality of energy supply pieces, and the energy supply pieces are used for respectively supplying energy to the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump so as to enable the first electro-hydraulic power steering gear, the second electro-hydraulic power steering gear, the first steering oil pump and the second steering oil pump to work; and
The redundant assembly comprises a plurality of redundant energy supply pieces which are in one-to-one correspondence with the energy supply pieces, wherein each redundant energy supply piece is configured to be mutually backed up with the corresponding energy supply piece, and takes over the work of the corresponding energy supply piece when the corresponding energy supply piece fails;
The energy supply pieces comprise two first power supplies and two high-voltage power supplies, and the two first power supplies are used for respectively providing power for the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear;
the two high-voltage power supplies are used for respectively providing power for the first steering oil pump and the second steering oil pump;
The redundant energy supply pieces comprise two second power supplies which are in one-to-one correspondence with the first power supplies and two low-voltage power supplies which are in one-to-one correspondence with the high-voltage power supplies;
each of the second power supplies is configured to supply electric power to the first electro-hydraulic power steering or the second electro-hydraulic power steering when the corresponding first power supply fails;
each of the low-voltage power sources is configured to supply power to the first steering oil pump or the second steering oil pump when the corresponding high-voltage power source fails;
A first oil supply pipeline is arranged between the first steering oil pump and the first electro-hydraulic power-assisted steering device;
A second oil supply pipeline is arranged between the second steering oil pump and the second electro-hydraulic power steering gear;
The redundant assembly further comprises a communication pipeline which is communicated with the first oil supply pipeline and the second oil supply pipeline and an electromagnetic proportional valve which is arranged on the communication pipeline, wherein the electromagnetic proportional valve is used for being opened when any one of the first steering oil pump and the second steering oil pump fails so as to be communicated with the first oil supply pipeline and the second oil supply pipeline.
2. The electro-hydraulic power steering system of claim 1, wherein the plurality of power supply members further comprises two first motors for driving connection with the worm of the first electro-hydraulic power steering and the worm of the second electro-hydraulic power steering, respectively;
the redundant energy supply pieces comprise two second motors corresponding to the two first motors, and each second motor is used for driving the worm of the first electro-hydraulic power steering device or the worm of the second electro-hydraulic power steering device to rotate when the corresponding first motor fails.
3. The electro-hydraulic power steering system of claim 1, further comprising a controller, wherein a communication line is provided between the controller and each of the power supply members, the controller being configured to receive operation information of each of the power supply members, and to control operation of the corresponding redundant power supply member when the operation information is abnormal;
The redundant assembly further comprises a plurality of redundant communication lines which are arranged in one-to-one correspondence with the communication lines, and each redundant communication line is used for enabling the corresponding energy supply piece to be connected with the controller when the corresponding communication line fails.
4. The electro-hydraulic power steering system of claim 1, wherein the steering device comprises a first steering axle, a first steering drive axle, a second steering axle, and a second steering drive axle, the first steering drive axle, the second steering axle, and the second steering drive axle being configured to be drivingly connected to the wheels, respectively;
The electro-hydraulic power steering device assembly further comprises a third electro-hydraulic power steering device and a fourth electro-hydraulic power steering device, and the first electro-hydraulic power steering device is in driving connection with the first steering axle; the second electro-hydraulic power-assisted steering device is in driving connection with the first steering drive axle; the third electro-hydraulic power-assisted steering device is in driving connection with the second steering axle, and the fourth electro-hydraulic power-assisted steering device is in driving connection with the second steering axle;
The steering oil pump assembly further comprises a third steering oil pump and a fourth steering oil pump, and the third steering oil pump is communicated with the third electro-hydraulic power-assisted steering device so as to supply oil to the third electro-hydraulic power-assisted steering device; the fourth steering oil pump is communicated with the fourth electro-hydraulic power steering gear to supply oil to the fourth electro-hydraulic power steering gear.
5. A vehicle comprising an electro-hydraulic power steering system as claimed in any one of claims 1 to 4.
6. A control method, applied to the vehicle according to claim 5, comprising:
Monitoring the working state of each energy supply piece;
and when the energy supply piece fails, controlling the corresponding redundant energy supply piece to work.
7. The control method according to claim 6, wherein the plurality of power supply members includes two first power supplies and two high-voltage power supplies, the two first power supplies being configured to supply power to the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear, respectively; the two high-voltage power supplies are used for respectively supplying power to the first steering oil pump and the second steering oil pump; the redundant energy supply pieces comprise two second power supplies which are in one-to-one correspondence with the two first power supplies and two low-voltage power supplies which are in one-to-one correspondence with the two high-voltage power supplies;
when the energy supply piece fails, controlling the corresponding redundant energy supply piece to work specifically comprises the following steps:
When the first power supply fails, controlling the second power supply corresponding to the failed first power supply to work;
when the high-voltage power supply fails, the low-voltage power supply corresponding to the failed high-voltage power supply is controlled to work.
8. The control method according to claim 6, characterized in that a first oil supply line is provided between the first steering oil pump and the first electro-hydraulic power steering; a second oil supply pipeline is arranged between the second steering oil pump and the second electro-hydraulic power steering gear; the redundant assembly further comprises a communication pipeline for communicating the first oil supply pipeline and the second oil supply pipeline and an electromagnetic proportional valve arranged on the communication pipeline;
After the monitoring of the working state of each energy supply piece, the method further comprises the following steps:
when any one of the first steering oil pump and the second steering oil pump fails, the electromagnetic proportional valve is controlled to be opened;
And adjusting the opening degree of the electromagnetic proportional valve so that the first electro-hydraulic power steering gear and the second electro-hydraulic power steering gear work normally.
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| CN202211084150.6A CN115257918B (en) | 2022-09-06 | 2022-09-06 | Electronic hydraulic power-assisted steering system, vehicle and control method |
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| CN115257918A (en) | 2022-11-01 |
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