CN116461598A - Drive-by-wire steering automobile road feel simulation execution device and method - Google Patents
Drive-by-wire steering automobile road feel simulation execution device and method Download PDFInfo
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- CN116461598A CN116461598A CN202310669126.7A CN202310669126A CN116461598A CN 116461598 A CN116461598 A CN 116461598A CN 202310669126 A CN202310669126 A CN 202310669126A CN 116461598 A CN116461598 A CN 116461598A
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- 238000004088 simulation Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000013016 damping Methods 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims description 125
- 230000009471 action Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005381 potential energy Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0472—Controlling the motor for damping vibrations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The application relates to the technical field of automobile electric control and intelligence, and discloses a road feel simulation execution device and a road feel simulation execution method for a steering-by-wire automobile, wherein a road feel simulation controller controls a magnetorheological damper to generate a damping force with a certain size according to torque and torque of a rotation angle sensor, and road feel can be generated according to the generated damping force; and the damping provided by the magneto-rheological damper belongs to semi-active damping, and the steering wheel is not dragged to rotate under the condition of control failure. In addition, the road feel simulation controller controls the aligning torque compensation motor to act on the torsion elastic piece according to the torque of the torque sensor and the torque of the rotation angle sensor under the condition that the steering wheel is determined to need to compensate the aligning torque, so that the torsion elastic piece generates the aligning torque with a certain size; the correcting moment is further transmitted to the torque and rotation angle sensor through the first shaft and further transmitted to the steering wheel to realize the correcting function of the steering wheel.
Description
Technical Field
The application relates to the technical field of automobile electric control and intelligence, in particular to a drive-by-wire steering automobile road feel simulation execution device and method.
Background
Under the push of the automobile 'new four', the automobile chassis is gradually changed from the traditional mechanical and hydraulic steering, driving and braking of the automobile to the traditional control mode replaced by an electric circuit to realize the basic control of the automobile: the control commands of a steering wheel, a brake pedal, an accelerator pedal and the like are firstly converted into electric signals, then the electric signals are transmitted to a control unit by an electric circuit, and the control unit obtains control output signals according to a designed control algorithm and simultaneously transmits the control output signals to an executing mechanism for specific execution by the electric circuit.
In a conventional automobile, the tires of the steering wheels of the automobile are excited by the road surface, generate steering resistance to the steering wheels and are fed back to the steering wheel through the steering mechanism, and are finally perceived by the driver to form a so-called "road feel". The driver can sense the running state of the vehicle and a certain degree of road surface information through road feel, and then perform proper driving operation on the vehicle according to the actual requirements of the driver. The road feel is important for the driving safety of the vehicle as shown by a large amount of data, but in the vehicle with complete drive-by-wire operation, the input mechanism of the steering system cancels the mechanical connection with the actuating mechanism of the steering system, and an electric signal transmits an actuating instruction to an actuating motor to complete the steering operation instead.
The device for generating the road feel in the existing drive-by-wire steering road feel simulation system can be realized by a road feel motor, and the road feel motor can realize more accurate active control on the road feel feedback moment, but under normal conditions, the mechanical connecting device is more complex and has the problems of unsmooth control, response delay and motor blocking.
In addition, in the traditional method, a torsion spring is used for generating a correcting moment, the correcting moment is not adjustable, and the correcting mechanism is easy to fail.
Disclosure of Invention
The embodiment of the application provides a drive-by-wire steering automobile road feel simulation execution device, which is used for solving the problems that in the prior art, a road feel motor is not smooth to control, response is delayed, the motor is blocked, and a traditional torsion spring aligning moment is not adjustable and an aligning mechanism is easy to fail.
Correspondingly, the embodiment of the application also provides a drive-by-wire steering automobile road feel simulation execution method which is used for guaranteeing the operation and the application of the device.
In order to solve the technical problem, the embodiment of the application discloses a drive-by-wire steering car feel simulation executive device, the device includes:
the magneto-rheological damper road feel generating component, the aligning moment generating and compensating component and the road feel simulation controller;
the magnetorheological damper road feel generating assembly comprises:
a steering wheel;
the input end of the torque and rotation angle sensor is connected with the steering wheel through a steering column;
the magnetorheological damper is connected with the torque and rotation angle sensor through a first connecting mechanism;
the aligning torque generating and compensating assembly includes:
the input end of the aligning torque generating structure is connected with the torque and rotation angle sensor through a first shaft;
the aligning torque compensation motor is connected with the output end of the aligning torque generating structure through a second connecting mechanism;
the aligning torque generating structure comprises a torsion elastic member for generating aligning torque by twisting the torsion elastic member under the action of the aligning torque compensating motor, and acts on the steering wheel through the first shaft and the torque and rotation angle sensor;
and the road feel simulation controller is in communication connection with the torque and rotation angle sensor, the magnetorheological damper and the aligning torque compensation motor.
In the embodiment of the application, the magnetorheological damper road feel generating component is used for generating road feel, the aligning moment generating and compensating component is used for generating compensating aligning moment, and the road feel simulation controller is used for controlling the magnitude of the magnetorheological damper road feel generating component used for generating road feel and controlling the magnitude of the aligning moment generating and compensating component generating compensating aligning moment. Specifically, the magnetorheological damper road feel generating assembly comprises a steering wheel, a torque and corner sensor and a magnetorheological damper, wherein the torque generated when the steering wheel rotates is transmitted to the torque and corner sensor through a steering column, and the road feel simulation controller controls the magnetorheological damper to generate a damping force with a certain size according to the torque of the torque and corner sensor and can generate road feel according to the generated damping force. The aligning torque generating and compensating assembly comprises an aligning torque generating structure and an aligning torque compensating motor, and the aligning torque generating structure comprises a torsion elastic piece; the road feel simulation controller controls the aligning torque compensation motor to act on the torsion elastic piece according to the torque of the torque sensor and the torque of the rotation angle sensor under the condition that the steering wheel is determined to need to compensate the aligning torque, so that the torsion elastic piece generates aligning torque with a certain size; the correcting moment is further transmitted to the torque and rotation angle sensor through the first shaft and further transmitted to the steering wheel to realize the correcting function of the steering wheel.
Optionally, the magnetorheological damper includes a piston rod;
the first connecting mechanism comprises a gear, a nut and a screw rod;
the gear is connected with the first shaft through a key;
the outer ring surface of the nut is of a gear ring structure and is in meshed connection with the gear through the gear ring structure;
the screw rod and the piston rod are integrally formed, and one end, close to the nut, of the screw rod is in threaded connection with the nut.
The torque of the torque and rotation angle sensor is transmitted to the gear and the nut through the first shaft, the screw rod is in threaded connection with the nut, steering motion of the nut can be converted into linear motion of the screw rod, the screw rod and a piston rod of the magnetorheological damper are integrally formed, undamped linear motion of the screw rod is converted into damped linear motion under the action of the magnetorheological damper, and road feel is further generated.
Optionally, nut brackets are arranged at the upper end and the lower end of the nut and used for axially limiting the nut.
Optionally, the aligning torque generating structure further includes:
the input end of the first ratchet mechanism is connected with the torque and rotation angle sensor through the first shaft; the input end and the output end of the first ratchet mechanism are provided with guide grooves;
the input end of the second ratchet mechanism is connected with the output end of the first ratchet mechanism through a second shaft, and the output end of the second ratchet mechanism is connected with the aligning torque compensation motor through the second connecting mechanism;
the fixed bracket is arranged between the torque sensor and the first ratchet mechanism and is used for supporting the first shaft;
the torsion elastic member includes:
the first spiral torsion spring is sleeved outside the first shaft, one end of the first spiral torsion spring is fixed with the fixed support, and the other end of the first spiral torsion spring is arranged in the guide groove at the input end of the first ratchet mechanism;
the second spiral torsion spring is sleeved outside the second shaft, one end of the second spiral torsion spring is fixed with the second ratchet mechanism, and the other end of the second spiral torsion spring is arranged in the guide groove at the output end of the first ratchet mechanism.
The first ratchet mechanism and the first ratchet mechanism with the guide grooves are adopted as the follow-up pieces of the first spiral torsion spring and the second spiral torsion spring, so that the generation of the aligning moment and the compensation of the aligning moment can be simply and effectively realized, and meanwhile, fatigue failure of the first spiral torsion spring and the second spiral torsion spring due to excessive reaction moment is prevented, and the service lives of the first spiral torsion spring and the second spiral torsion spring are effectively prolonged.
Optionally, the first helical torsion spring and the second helical torsion spring are in opposite directions of rotation.
The first spiral torsion spring and the second spiral torsion spring are opposite in rotation direction, and different steering aligning moments can be generated.
Optionally, the second connection mechanism includes:
the worm is connected with the aligning torque compensation motor, the worm wheel is meshed with the worm, and the third shaft is respectively connected with the worm wheel and the aligning torque generating structure at two ends.
The aligning torque compensation motor can drive the third shaft to rotate through the worm and the worm wheel, and further drive the aligning torque to generate rotation potential energy through the torsion elastic piece in the structure through the third shaft, so that the compensation of the aligning torque is realized.
Optionally, the first ratchet mechanism and the second ratchet mechanism each comprise an inner rotor and an outer rotor in meshed connection;
one end of the second shaft is rigidly connected with the outer rotor of the first ratchet mechanism, and the other end of the second shaft is rigidly connected with the inner rotor of the second ratchet mechanism;
the third shaft is rigidly connected with the outer rotor of the second ratchet mechanism.
Optionally, one end of the first spiral torsion spring is fixed with the fixed bracket, and the other end of the first spiral torsion spring is arranged in a guide groove at the input end of the outer rotor of the first ratchet mechanism;
one end of the second spiral torsion spring is fixed with the outer rotor of the second ratchet mechanism, and the other end of the second spiral torsion spring is arranged in a guide groove at the output end of the outer rotor of the first ratchet mechanism.
The embodiment of the application also discloses a drive-by-wire steering automobile road feel simulation execution method which is applied to the drive-by-wire steering automobile road feel simulation execution device, and the method comprises the following steps:
the road feel simulation controller controls the magnetorheological damper to generate damping force and controls the damping force according to the torque of the torque and the torque of the rotation angle sensor; generating a road feel according to the damping force;
and, the road feel analog controller controls the aligning torque compensation motor to generate acting force on the torsion elastic member in the aligning torque generating structure under the condition that the aligning torque of the steering wheel is determined according to the torque and the torque of the rotation angle sensor;
the torsion elastic piece generates a correcting moment through the acting force and acts on the torque and rotation angle sensor through a first shaft;
the torque of the torque and rotation angle sensor is obtained through the generation of the steering wheel and the transmission of the steering column.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a road feel simulation execution device for a steer-by-wire automobile according to an embodiment of the present application;
fig. 2 is a schematic connection diagram of a road feel simulation controller according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of each component of the steer-by-wire automobile road feel simulation executing device according to the embodiment of the present application;
FIG. 4 is a schematic structural view of a first ratchet mechanism and a second ratchet mechanism connected to a second shaft according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a connection between a second helical torsion spring and a first ratchet mechanism according to an embodiment of the present application.
Wherein, 11-steering wheel; 12-torque and rotation angle sensors; 13-a magnetorheological damper; 14-steering column; 15-a first connection mechanism; 151-gear; 152-nut; 153-screw; 154-nut support; a 16-coupling; 17-a second coupling; 21-a aligning torque generating structure; 211-fixing a bracket; 212-a first ratchet mechanism; 2121-an outer rotor of a first ratchet mechanism; 212 a-guide slots; 213-a second ratchet mechanism; 2131-an inner rotor of a second ratchet mechanism; 214-a second axis; 215-a first helical torsion spring; 216-a second helical torsion spring; 22-aligning torque compensation motor; 23-a first axis; 24-a second connection mechanism; 241-worm; 242-worm gear; 243-third axis; 3-road sense analog controller.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present application and are not to be construed as limiting the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the technical problems in the prior art, the drive-by-wire steering automobile road feel simulation execution device and method provided by the application aim to solve at least one of the technical problems in the prior art.
The following describes the technical solution of the present application and how the technical solution of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Embodiments of the present application provide a possible implementation manner, as shown in fig. 1 and fig. 2, the apparatus may include: a magnetorheological damper road feel generating component, a correcting moment generating and compensating component and a road feel simulation controller 3; wherein, magnetorheological damper way feel produces subassembly includes:
a steering wheel 11;
a torque and rotation angle sensor 12, wherein the input end of the torque and rotation angle sensor 12 is connected with the steering wheel 11 through a steering column 14;
the magnetorheological damper 13 is connected with the torque and rotation angle sensor 12 through a first connecting mechanism 15.
Optionally, the torque and rotation angle sensor 12 is connected to the steering column 14 via a first coupling 16; so that the torque and rotation angle sensor 12 rotates with the rotation of the steering column 14. Specifically, the steering wheel 11 rotates to generate torque, and the torque is transmitted to the torque and rotation angle sensor 12 through the steering column 14. The first connection mechanism 15 transmits torque from the torque sensor 12 to the magnetorheological damper 13. In addition, the road feel simulation controller 3 is in communication connection with the torque and rotation angle sensor 12, and the road feel simulation controller 3 controls the magnetorheological damper 13 to generate a damping force with a certain magnitude according to the received torque and the torque of the rotation angle sensor 12, so as to generate road feel.
The aligning torque generating and compensating assembly includes:
the input end of the aligning torque generating structure 21 is connected with the torque and rotation angle sensor 12 through a first shaft 23;
the aligning torque compensation motor is connected with the output end of the aligning torque generating structure 21 through a second connecting mechanism 24; wherein the aligning torque generating structure 21 includes a torsion elastic member for generating an aligning torque by the torsion elastic member under the action of the aligning torque compensating motor and acting on the steering wheel 11 through the first shaft 23 and the torque and rotation angle sensor 12;
the road feel simulation controller 3 is in communication connection with a torque and rotation angle sensor 12, a magneto-rheological damper 13 and a correcting torque compensation motor.
The road feel simulation controller 3 may also determine whether the steering wheel 11 needs to compensate for the aligning torque based on the received torque and the torque of the rotation angle sensor 12, and when determining that the aligning torque needs to be compensated, control the aligning torque compensation motor to perform an action, and apply the aligning torque to the aligning torque generating structure 21 through the second connection mechanism 24. The aligning torque generating structure 21 includes a torsion elastic member, and the torsion elastic member is further twisted under the action of an aligning torque compensating motor to generate torsion elastic potential energy, thereby realizing compensation of aligning torque. Alternatively, the torque and rotation angle sensor 12 is connected to the first shaft 23 through the second coupling 17, so that the generated aligning torque of the torsion elastic member is transmitted to the torque and rotation angle sensor 12 through the first shaft 23, and the torque and rotation angle sensor 12 transmits the aligning torque to the steering wheel 11 through the steering column 14, thereby precisely realizing the aligning function of the steering wheel 11.
In this embodiment of the present application, the magnetorheological damper road feel generating component is used for generating road feel, the aligning moment generating and compensating component is used for generating compensating aligning moment, and the road feel analog controller 3 is used for controlling the magnitude of the magnetorheological damper road feel generating component used for generating road feel and controlling the magnitude of the aligning moment generating and compensating component generating compensating aligning moment. Specifically, the magnetorheological damper road feel generating assembly comprises a steering wheel 11, a torque and rotation angle sensor 12, a magnetorheological damper 13 and a first connecting mechanism 15, wherein the torque generated when the steering wheel 11 rotates is transmitted to the torque and rotation angle sensor 12 through a steering column 14; then transmitted to the magneto-rheological damper 13 through the first connecting mechanism 15; in addition, the road feel simulation controller 3 controls the magnetorheological damper 13 to generate a damping force with a certain magnitude according to the torque and the torque of the rotation angle sensor 12, and can generate road feel according to the generated damping force; and, the damping provided by the magnetorheological damper 13 is semi-active damping, and the steering wheel 11 is not dragged to rotate under the condition of control failure. The aligning torque generating and compensating assembly comprises an aligning torque generating structure 21 and an aligning torque compensating motor, wherein the aligning torque generating structure 21 comprises a torsion elastic piece; the road feel simulation controller 3 controls the aligning torque compensation motor to act on the torsion elastic piece according to the torque and the torque of the rotation angle sensor 12 under the condition that the steering wheel 11 is determined to need to compensate the aligning torque, so that the torsion elastic piece generates aligning torque with a certain magnitude; the return torque is further transmitted to the torque and rotation angle sensor 12 via the first shaft 23 and further transmitted to the steering wheel 11 to realize the return function of the steering wheel 11.
In an alternative embodiment, as shown in FIG. 3, the magnetorheological damper 13 includes a piston rod; the first connection mechanism 15 includes a gear 151, a nut 152, and a screw 153; the gear 151 is connected with the first shaft 23 by a key; the outer ring surface of the nut 152 is of a gear ring structure and is in meshed connection with the gear 151 through the gear ring structure; the lead screw 153 is integrally formed with the piston rod, and one end of the lead screw, which is close to the nut 152, is in threaded connection with the nut 152.
The gear 151 is connected with the first shaft 23 through a key, the torque and rotation angle sensor 12 transmits the torque to the first shaft 23, the first shaft 23 drives the gear 151 to rotate, the outer ring surface of the nut 152 is of a gear ring structure, the gear 151 is meshed and connected with the gear 151 through the gear ring structure, the nut 152 is driven to rotate through rotation of the gear 151, the nut 152 is connected with one end of the screw 153 through threads, and rotation of the nut 152 can be converted into linear motion of the screw 153. The road sense simulation controller 3 controls the magnetorheological damper 13 to generate a damping force with a certain magnitude according to the received torque and the torque of the rotation angle sensor 12, the other end of the lead screw 153 and a piston rod controlling the magnetorheological damper 13 are integrally formed, and then the undamped linear motion of the lead screw 153 is converted into damped linear motion by controlling the damping force generated by the magnetorheological damper 13, so that road sense is generated.
The use of the first coupling mechanism 15 to convert the rotational motion of the steering wheel 11 into the linear motion of the lead screw 153 can reduce the feel feedback hysteresis while shortening the steering system axial dimension.
Optionally, the magnetorheological damper 13 includes a damping force controller, and the road feel simulation controller 3 can instruct the damping force controller according to the torque and the torque value of the rotation angle sensor 12, and the damping force controller adjusts the magnetic field current of the magnetorheological damper 13 in real time, so as to control the damping force generated by the magnetorheological damper 13.
In an alternative embodiment, as shown in fig. 3, nut 152 brackets are provided at the upper and lower ends of nut 152 for axially restraining nut 152.
In an alternative embodiment, as shown in fig. 1 and 3, the aligning torque generating structure 21 further includes: a first ratchet mechanism 212, an input end of the first ratchet mechanism 212 is connected with the torque and rotation angle sensor 12 through the first shaft 23; and the input end and the output end of the first ratchet mechanism 212 are provided with guide grooves 212a;
the input end of the second ratchet mechanism 231 is connected with the output end of the first ratchet mechanism 212 through a second shaft 214, and the output end of the second ratchet mechanism 231 is connected with the aligning torque compensation motor 22 through a second connecting mechanism 24;
a fixing bracket 211, wherein the fixing bracket 211 is arranged between the torque sensor 12 and the first ratchet mechanism 212 and is used for supporting the first shaft 23;
the torsion elastic member includes:
the first spiral torsion spring 215 is sleeved outside the first shaft 23, one end of the first spiral torsion spring 215 is fixed with the fixed bracket 211, and the other end of the first spiral torsion spring 215 is arranged in the guide groove 212a at the input end of the first ratchet mechanism 212;
the second spiral torsion spring 216 is sleeved outside the second shaft 214, one end of the second spiral torsion spring 216 is fixed with the second ratchet mechanism 231, and the other end of the second spiral torsion spring 216 is arranged in the guide groove 212a at the output end of the first ratchet mechanism 212.
The first shaft 23 can transmit torque and torque of the rotation angle sensor 12 to the first ratchet mechanism 212, and further transmit torque to a first helical torsion spring 215 mounted at an input end of the first ratchet mechanism 212; in addition, the first ratchet mechanism 212 and the second ratchet mechanism 231 are connected by the second shaft 214, and torque is transmitted to the second ratchet mechanism 231; one end of the second helical torsion spring 216 is fixed with the second ratchet mechanism 231, thereby transmitting torque to the second helical torsion spring 216. Based on the above, the first and second coil torsion springs 215 and 216 can be caused to generate a certain aligning moment.
Optionally, a circular hole is formed in the middle of the fixing bracket 211 for the first shaft 23 to pass through for supporting the first shaft 23; and the fixing bracket 211 is not rotated with the rotation of the first shaft for fixing the first helical torsion spring 215. In an alternative embodiment, the first helical torsion spring 215 is counter-rotated to the second helical torsion spring 216. It is possible to generate aligning moments in different directions according to the rotation of the steering wheel 11 in different directions.
In an alternative embodiment, as shown in fig. 3, the second connection mechanism 24 includes: a second connecting mechanism 241 connected to the aligning torque compensation motor 22, a worm wheel 242 engaged with the second connecting mechanism 241, and a third shaft 243 having both ends connected to the worm wheel 242 and the aligning torque generating structure 21, respectively.
In an alternative embodiment, first ratchet mechanism 212 and second ratchet mechanism 231 each include an inner rotor and an outer rotor in meshed connection; one end of the second shaft 214 is rigidly connected to the outer rotor 2121 of the first ratchet mechanism, and the other end is rigidly connected to the inner rotor 2131 of the second ratchet mechanism; the third shaft 243 is rigidly connected to the outer rotor of the second ratchet mechanism 231. As shown in fig. 4, fig. 4 shows a structure in which the second shaft 214 is rigidly connected to the outer rotor 2121 of the first ratchet mechanism, and a structure in which the second shaft 214 is rigidly connected to the inner rotor 2131 of the second ratchet mechanism. Alternatively, the first shaft 23 is connected at one end to the torque and rotation angle sensor 12 via the second coupling 17 and at the other end to the rigid connection of the inner rotor of the first ratchet mechanism 212.
In this embodiment, the first ratchet mechanism 212 and the second ratchet mechanism 231 are both clockwise ratchet wheels, that is, the outer rotator is not acted by a rotation moment when the inner rotator rotates clockwise in the ratchet mechanism, and the inner rotator is rigidly connected with the outer rotator when the outer rotator is acted by a clockwise rotation moment, and is acted by a clockwise rotation moment.
In an alternative embodiment, first helical torsion spring 215 is fixed at one end to fixed bracket 211 and at the other end is disposed in guide groove 212a at the input end of outer rotor 2121 of the first ratchet mechanism; as shown in fig. 5, one end of the second spiral torsion spring 216 is fixed to the outer rotor of the second ratchet mechanism 231, and the other end is provided in the guide groove 212a at the output end of the outer rotor 2121 of the first ratchet mechanism.
Taking the clockwise rotation of the steering wheel 11 as an example, the clockwise rotation of the steering wheel 11 transmits torque to the torque and rotation angle sensor 12, and when the road feel simulation controller 3 determines that the current state does not need to be subjected to the aligning torque compensation according to the signals (the torque direction and the magnitude) of the torque and rotation angle sensor 12, the aligning torque compensation motor 22 is controlled to not perform the action. The first spiral torsion spring 215 releases the stored torsion elastic potential energy and drives the outer rotor 2121 of the first ratchet mechanism to rotate anticlockwise, and at this time, the outer rotor 2121 of the first ratchet mechanism and the inner rotor of the first ratchet mechanism 212 are locked in the rotation direction, so that the first shaft 23 integrated with the inner rotor of the first ratchet mechanism 212 is driven to rotate anticlockwise.
The end surface of the outer rotor 2121 of the first ratchet mechanism is provided with a guide groove 212a, and the guide groove 212a is circular arc-shaped, so that the rotation of the outer rotor 2121 of the first ratchet mechanism does not cause the counter moment of the first helical torsion spring 215.
It should be further noted that, the rotation of the outer rotor 2121 of the first ratchet mechanism drives the second shaft 214 to rotate, and simultaneously drives the inner rotor 2131 of the second ratchet mechanism integrally formed with the second shaft 214 to rotate, at this time, the outer rotor of the second ratchet mechanism 231 and the inner rotor 2131 of the second ratchet mechanism are in a rotation unlocking state, so that the outer rotor of the second ratchet mechanism 231 does not rotate.
Alternatively, the road feel simulation controller 3 controls the damping force of the magnetorheological damper 13 according to the signals (torque and steering) of the torque and steering angle sensor 12, so as to realize smooth transmission of the aligning torque, and finally, the counterclockwise aligning torque is fed back to the steering wheel 11 through the first connecting mechanism 15, the torque and steering angle sensor 12 and the steering column 14.
Taking the clockwise rotation of the steering wheel 11 as an example, the steering wheel 11 rotates clockwise to transmit the torque to the torque and rotation angle sensor 12, and when the road feel simulation controller 3 determines that the current state needs to perform the aligning torque compensation according to the signals (the torque direction and the magnitude) of the torque and rotation angle sensor 12, the aligning torque compensation motor 22 sends an instruction to drive the aligning torque compensation motor 22 to perform the action, and the worm wheel 242 and the second connecting mechanism 241 drive the third shaft 243 to rotate clockwise. The third shaft 243 is rigidly connected to the outer rotor of the second ratchet mechanism 231, so that the outer rotor of the second ratchet mechanism 231 rotates clockwise. At this time, the outer rotor of the second ratchet mechanism 231 is locked with the inner rotor 2131 of the second ratchet mechanism in the rotation direction, and then the outer rotor 2121 of the first ratchet mechanism rigidly connected to the other end of the second shaft 214 is driven to rotate clockwise by the second shaft 214 integrally formed with the inner rotor 2131 of the second ratchet mechanism.
At this time, the outer rotor 2121 of the first ratchet mechanism and the inner rotor of the first ratchet mechanism 212 are in an unlocked state in the rotation direction, so that the outer rotor 2121 of the first ratchet mechanism drives the second spiral torsion spring 216 to rotate clockwise, thereby increasing the torsional elastic potential energy of the second spiral torsion spring 216, realizing compensation of the aligning moment, and finally realizing the aligning function of the steering wheel 11.
The embodiment of the application also provides a drive-by-wire steering automobile road feel simulation execution method which is applied to the drive-by-wire steering automobile road feel simulation execution device, and the method comprises the following steps:
the road feel simulation controller 3 controls the magnetorheological damper 13 to generate damping force and controls the magnitude of the damping force according to the torque and the torque of the rotation angle sensor 12; generating a road feel according to the damping force;
when it is determined that the steering wheel 11 needs a correction torque based on the torque and the torque of the rotation angle sensor 12, the road feel simulation controller 3 controls the correction torque compensation motor 22 to apply a force to the torsion elastic member in the correction torque generating structure 21;
the torsion elastic member generates a restoring moment by the acting force and acts on the torque and rotation angle sensor 12 through the first shaft 23;
the torque of the torque and rotation angle sensor 12 is obtained by generating the steering wheel 11 and transmitting the generated torque to the steering column 14.
In the embodiment of the application, the road feel simulation controller 3 controls the magnetorheological damper 13 to generate a damping force with a certain magnitude according to the torque and the torque of the rotation angle sensor 12, and can generate road feel according to the generated damping force; and, the damping provided by the magnetorheological damper 13 is semi-active damping, and the steering wheel 11 is not dragged to rotate under the condition of control failure. In addition, the road feel simulation controller 3 controls the aligning torque compensation motor 22 to act on the torsion elastic member according to the torque and the torque of the rotation angle sensor 12 under the condition that the steering wheel 11 is determined to need to compensate the aligning torque, so that the torsion elastic member generates the aligning torque with a certain magnitude; the return torque is further transmitted to the torque and rotation angle sensor 12 via the first shaft 23 and further transmitted to the steering wheel 11 to realize the return function of the steering wheel 11.
The method for performing road feel simulation of the steering-by-wire automobile provided by the embodiment of the application can implement the execution of the devices of fig. 1 to 5, and each process implemented in the embodiment is not repeated here.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the disclosure. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (9)
1. A steer-by-wire automotive road feel simulation execution device, characterized in that the device comprises:
the magneto-rheological damper road feel generating component, the aligning moment generating and compensating component and the road feel simulation controller;
the magnetorheological damper road feel generating assembly comprises:
a steering wheel;
the input end of the torque and rotation angle sensor is connected with the steering wheel through a steering column;
the magnetorheological damper is connected with the torque and rotation angle sensor through a first connecting mechanism;
the aligning torque generating and compensating assembly includes:
the input end of the aligning torque generating structure is connected with the torque and rotation angle sensor through a first shaft;
the aligning torque compensation motor is connected with the output end of the aligning torque generating structure through a second connecting mechanism;
the aligning torque generating structure comprises a torsion elastic member for generating aligning torque by twisting the torsion elastic member under the action of the aligning torque compensating motor, and acts on the steering wheel through the first shaft and the torque and rotation angle sensor;
and the road feel simulation controller is in communication connection with the torque and rotation angle sensor, the magnetorheological damper and the aligning torque compensation motor.
2. The steer-by-wire automobile feel simulation execution device of claim 1, wherein the magnetorheological damper comprises a piston rod;
the first connecting mechanism comprises a gear, a nut and a screw rod;
the gear is connected with the first shaft through a key;
the outer ring surface of the nut is of a gear ring structure and is in meshed connection with the gear through the gear ring structure;
the screw rod and the piston rod are integrally formed, and one end, close to the nut, of the screw rod is in threaded connection with the nut.
3. The drive-by-wire steering car feel simulation execution device according to claim 2, wherein nut brackets are arranged at the upper end and the lower end of the nut and used for axially limiting the nut.
4. The steer-by-wire automobile feel simulation execution apparatus according to claim 1, wherein the aligning torque generating structure further comprises:
the input end of the first ratchet mechanism is connected with the torque and rotation angle sensor through the first shaft; the input end and the output end of the first ratchet mechanism are provided with guide grooves;
the input end of the second ratchet mechanism is connected with the output end of the first ratchet mechanism through a second shaft, and the output end of the second ratchet mechanism is connected with the aligning torque compensation motor through the second connecting mechanism;
the fixed bracket is arranged between the torque sensor and the first ratchet mechanism and is used for supporting the first shaft;
the torsion elastic member includes:
the first spiral torsion spring is sleeved outside the first shaft, one end of the first spiral torsion spring is fixed with the fixed support, and the other end of the first spiral torsion spring is arranged in the guide groove at the input end of the first ratchet mechanism;
the second spiral torsion spring is sleeved outside the second shaft, one end of the second spiral torsion spring is fixed with the second ratchet mechanism, and the other end of the second spiral torsion spring is arranged in the guide groove at the output end of the first ratchet mechanism.
5. The steer-by-wire automobile feel simulation execution apparatus according to claim 4, wherein the first coil torsion spring and the second coil torsion spring are opposite in rotation direction.
6. The steer-by-wire automobile feel simulation execution apparatus according to claim 4, wherein the second connection mechanism comprises:
the worm is connected with the aligning torque compensation motor, the worm wheel is meshed with the worm, and the third shaft is respectively connected with the worm wheel and the aligning torque generating structure at two ends.
7. The steer-by-wire automobile feel simulation execution device of claim 6, wherein the first ratchet mechanism and the second ratchet mechanism each comprise an inner rotor and an outer rotor in meshed connection;
one end of the second shaft is rigidly connected with the outer rotor of the first ratchet mechanism, and the other end of the second shaft is rigidly connected with the inner rotor of the second ratchet mechanism;
the third shaft is rigidly connected with the outer rotor of the second ratchet mechanism.
8. The drive-by-wire steering automobile road feel simulation execution device according to claim 7, wherein one end of the first spiral torsion spring is fixed with the fixed bracket, and the other end of the first spiral torsion spring is arranged in a guide groove of the input end of the outer rotor of the first ratchet mechanism;
one end of the second spiral torsion spring is fixed with the outer rotor of the second ratchet mechanism, and the other end of the second spiral torsion spring is arranged in a guide groove at the output end of the outer rotor of the first ratchet mechanism.
9. The method for performing the road feel simulation of the steering-by-wire automobile is applied to the road feel simulation performing device of the steering-by-wire automobile, and is characterized by comprising the following steps of:
the road feel simulation controller controls the magnetorheological damper to generate damping force and controls the damping force according to the torque of the torque and the torque of the rotation angle sensor; generating a road feel according to the damping force;
and, the road feel analog controller controls the aligning torque compensation motor to generate acting force on the torsion elastic member in the aligning torque generating structure under the condition that the aligning torque of the steering wheel is determined according to the torque and the torque of the rotation angle sensor;
the torsion elastic piece generates a correcting moment through the acting force and acts on the torque and rotation angle sensor through a first shaft;
the torque of the torque and rotation angle sensor is obtained through the generation of the steering wheel and the transmission of the steering column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310669126.7A CN116461598A (en) | 2023-06-07 | 2023-06-07 | Drive-by-wire steering automobile road feel simulation execution device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310669126.7A CN116461598A (en) | 2023-06-07 | 2023-06-07 | Drive-by-wire steering automobile road feel simulation execution device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116461598A true CN116461598A (en) | 2023-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310669126.7A Pending CN116461598A (en) | 2023-06-07 | 2023-06-07 | Drive-by-wire steering automobile road feel simulation execution device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116461598A (en) |
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2023
- 2023-06-07 CN CN202310669126.7A patent/CN116461598A/en active Pending
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