CN116714667A - Intelligent steering system - Google Patents
Intelligent steering system Download PDFInfo
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- CN116714667A CN116714667A CN202310944908.7A CN202310944908A CN116714667A CN 116714667 A CN116714667 A CN 116714667A CN 202310944908 A CN202310944908 A CN 202310944908A CN 116714667 A CN116714667 A CN 116714667A
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- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 230000005540 biological transmission Effects 0.000 claims abstract description 74
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 230000000630 rising effect Effects 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 238000012417 linear regression Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 14
- 238000007789 sealing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000003134 recirculating effect Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 239000012208 gear oil Substances 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012546 transfer Methods 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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
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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
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0454—Worm gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
An intelligent steering system comprises a steering transmission mechanism, an electric power assisting device and a steering transmission mechanism, wherein the steering transmission mechanism is combined by a spherical multi-head worm shaft and a conical involute helical gear shaft; the electric booster device provides booster torque for the worm shaft through the motor, so that the force required by a driver during steering is reduced; the clearance adjusting mechanism can adjust the meshing clearance between the worm shaft and the worm wheel shaft, and can solve the problem that the clearance is too large after the steering gear is in service for a long time.
Description
Technical Field
The application relates to the technical field of automobile steering, in particular to an intelligent steering system.
Background
In order to meet development requirements of vehicle electric energy conservation, driving safety, comfort and the like, an electric power steering is adopted to replace a hydraulic power steering device in the prior commercial vehicle, and a circulating ball steering device is adopted in large commercial vehicles such as electric buses, large new energy buses and heavy commercial vehicles because the load is very high and the rack and pinion steering device cannot be applied.
Patent document CN200510055247.4 discloses a recirculating ball electric power steering device, which has recently been commercialized in light trucks. However, due to the limitation of the mechanical strength of the recirculating ball structure, the requirement of the steering device for outputting large torque cannot be met, and the recirculating ball structure is difficult to apply to heavy-duty commercial vehicles.
Patent document CN113428213a discloses a recirculating ball steering device with double power-assisted mechanisms, which alleviates the problem of large torque output of a commercial vehicle by redundancy and improvement of the power-assisted devices, but the limitations of the recirculating ball steering device itself still exist.
Meanwhile, gaps between driving and driven parts of a transmission mechanism of a steering gear in a steering system of a commercial vehicle are larger and larger due to factors such as service life, and steering operability is affected.
Disclosure of Invention
In order to solve the technical problems, the application provides an intelligent steering system.
According to a first aspect, an embodiment provides an intelligent steering system comprising:
the steering transmission mechanism comprises an input shaft, a worm shaft and a worm shaft which are sequentially connected in a transmission manner;
the electric power assisting device comprises a motor and a controller, the motor is in transmission connection with the worm shaft, and the controller is used for controlling the output of the motor;
and a gap adjustment mechanism for adjusting a meshing gap between the worm shaft and the worm shaft;
the input shaft is used for transmitting steering wheel moment, the controller is used for controlling the output of the motor according to vehicle steering control information, the input shaft and the motor simultaneously output torque to the worm shaft, the worm shaft transmits the torque to the worm wheel shaft, and the worm wheel shaft transmits the torque to the steering wheel so as to drive the steering wheel to steer;
the worm shaft is a spherical multi-head worm shaft, and the worm shaft is a conical involute helical gear shaft.
In an embodiment, the gap adjusting mechanism comprises a gap adjusting bolt, a first locking nut of the gap adjusting bolt and a second locking nut of the gap adjusting bolt, wherein the first locking nut of the gap adjusting bolt and the second locking nut of the gap adjusting bolt are in threaded connection with the gap adjusting bolt, the first locking nut of the gap adjusting bolt locks the gap adjusting bolt with the worm wheel shaft, the second locking nut of the gap adjusting bolt is arranged at a fixed position, and the axial direction of the gap adjusting bolt is parallel to the axial direction of the worm wheel shaft; the relative positions of the first lock nut of the clearance adjusting bolt and the second lock nut of the clearance adjusting bolt in the axial direction of the clearance adjusting bolt can be adjusted through the clearance adjusting bolt, so that the axial position of the worm wheel shaft can be adjusted, and the meshing clearance of the worm wheel shaft and the worm shaft can be adjusted.
In an embodiment, further comprising: the gap compensation device comprises a gap identification module and a gap compensation module; the gap identification module is used for acquiring the transmission gap between the worm wheel shaft and the worm shaft, and the gap compensation module is used for carrying out current compensation on the motor according to the transmission gap between the worm wheel shaft and the worm shaft.
In an embodiment, the method for the gap recognition module to obtain the transmission gap between the worm wheel shaft and the worm shaft includes: establishing a nonlinear dead zone model of the backlash of the worm shaft and the worm wheel shaft according to the relation between the transmission torque when the worm shaft and the worm wheel shaft are contacted, the rotation angle difference value of the worm shaft and the worm wheel shaft and the parameter to be identified; carrying out parameter identification of the model to obtain a model linear regression equation at a certain sampling moment; using a least square method with forgetting factors to obtain a recursive formula on a gain matrix, a recursive formula on a parameter matrix and a recursive formula on a covariance matrix; and obtaining parameters to be identified according to a recursive formula about the gain matrix, a recursive formula about the parameter matrix and a recursive formula about the covariance matrix, wherein the parameters to be identified comprise transmission gaps of the worm wheel shaft and the worm shaft.
In an embodiment, the method for the gap compensation module to perform current compensation on the motor according to the transmission gap between the worm wheel shaft and the worm shaft includes: when the transmission clearance between the worm wheel shaft and the worm shaft is smaller than a first threshold value, a clearance compensation current is obtained according to the transmission clearance between the worm wheel shaft and the worm shaft, and the clearance compensation module performs current compensation on the motor according to the clearance compensation current; and when the transmission clearance between the worm wheel shaft and the worm shaft is larger than a first threshold value, alarming is carried out besides current compensation on the motor.
In one embodiment, the electric power assisting device further includes a speed reducing mechanism, and the motor is connected to the worm shaft through the speed reducing mechanism.
In an embodiment, the speed reducing mechanism is a synchronous belt speed reducing mechanism, and comprises a synchronous pulley, a synchronous belt and a passive synchronous pulley, wherein the synchronous pulley is fixed on an output shaft of the motor, the passive synchronous pulley is fixed at an input end of the worm shaft, and the synchronous belt is connected with the synchronous pulley and the passive synchronous pulley.
In an embodiment, further comprising: a hysteresis detection module; the hysteresis detection module is used for detecting whether the speed reducing mechanism has corner hysteresis.
In an embodiment, the method for detecting whether the rotation angle hysteresis occurs in the speed reducing mechanism by the hysteresis detection module includes: in a rotation angle hysteresis judging period, judging that rotation angle hysteresis occurs if the number of times that the difference value of the product of the rotation angle of the motor rotor, the rotation angle of the driven part of the speed reducing structure and the transmission ratio of the speed reducing mechanism is larger than a second threshold value is larger than a third threshold value, and judging that rotation angle hysteresis does not occur if the difference value is smaller than the third threshold value; the motor rotor turning angle is obtained through conversion of rising edge jump times and falling edge jump times of motor position signals.
In one embodiment, the worm shaft is a non-self-locking large helix angle spherical multi-start worm.
According to the intelligent steering system of the embodiment, due to the fact that the transmission mechanism combined by the spherical multi-head worm shaft and the conical involute helical gear shaft is used for replacing a circulating ball steering device in the prior art, the worm and gear steering transmission mechanism combined by the spherical multi-head worm shaft and the conical involute helical gear shaft is compact in structure and long in service life, large torque output can be achieved, and the steering system can be applied to heavy-duty commercial vehicles; meanwhile, the clearance adjusting mechanism can adjust the meshing clearance between the worm shaft and the worm wheel shaft, and the problem that the clearance is too large after the steering gear is in long-term service can be solved.
Drawings
FIG. 1 is a schematic cross-sectional view of an intelligent steering system according to an embodiment;
FIG. 2 is a schematic cross-sectional view of another angle of the intelligent steering system according to one embodiment;
FIG. 3 is a schematic diagram of an embodiment of a steering system;
FIG. 4 is a schematic view showing a structure of a worm shaft of the intelligent steering system according to an embodiment;
FIG. 5 is a schematic diagram of a worm gear shaft of the intelligent steering system according to one embodiment;
FIG. 6 is a schematic view of a worm gear shaft at another angle of the intelligent steering system in one embodiment;
FIG. 7 is a model of backlash before and after lash compensation of an intelligent steering system, in accordance with one embodiment;
FIG. 8 is a schematic diagram of a worm wheel shaft rotation angle information acquisition assembly of the intelligent steering system according to an embodiment;
FIG. 9 is a schematic diagram of a worm wheel shaft rotation angle information acquisition assembly of the intelligent steering system according to another embodiment;
FIG. 10 is a control strategy architecture diagram of the intelligent steering system in one embodiment.
Reference numerals illustrate: 1. an input shaft; 2. a torsion bar; 3. a torsion bar pin; 4. a sensor cover; 5. an input shaft oil seal; 6. an input shaft bearing; 7. a torque rotation angle sensor; 71. a hard line; 8. a sensor cover fixing bolt; 9. a sensor support; 10. a support frame sealing ring; 11. a synchronous belt; 12. a driving synchronous pulley; 13. a passive synchronous pulley; 14. driving synchronous pulley flat key; 15. passive synchronous pulley flat key; 16. an electric power-assisted shell and a steering mechanism shell sealing ring; 17. a motor sealing ring; 18. a first thrust self-aligning roller bearing; 19. a worm wheel shaft; 20. a worm shaft; 21. a controller; 22. a second thrust self-aligning roller bearing; 23. a second roller bearing nut; 24. a steering mechanism lower cover; 25. a lower cover fixing bolt; 26. a rocker arm lock nut; 27. a rocker shaft; 28. rocker shaft oil seal; 29. a first output shaft needle bearing; 30. a second output shaft needle bearing; 31. a gap adjusting bolt first lock nut; 32. the side cover and the shell sealing ring; 33. a steering device side cover; 34. a gap adjusting bolt second lock nut; 35. a gap adjusting bolt; 36. the side cover and the rocker shaft seal ring; 37. a side cover fixing bolt; 38. a motor; 39. a motor fixing bolt; 40. an oil filling port sealing ring; 41. an oil filling port screw cap; 42. a steering device housing; 43. an electric booster shell fixing bolt; 44. an electric power-assisted housing; 45. an oil seal is arranged between the worm shaft and the steering device shell; 46. a sensor cover seal ring; 47. a worm wheel shaft angle sensor; 48. a worm wheel shaft angle sensor bracket; 51. a diverter mounting bracket; 52. a sensor shield; 53. a kingpin angle sensor; 54. a kingpin angle sensor bracket; 55. a knuckle; 56. a front axle; 57. and steering wheels.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
In the embodiment of the application, the intelligent steering system comprises a steering transmission mechanism, an electric power assisting device and a steering transmission mechanism, wherein the steering transmission mechanism which combines a spherical multi-head worm shaft with a conical involute helical gear shaft is used, and the worm and gear steering transmission mechanism which combines the spherical multi-head worm shaft with the conical involute helical gear shaft is compact in structure and long in service life, can realize large torque output and can be suitable for heavy-load commercial vehicles; the electric booster device provides booster torque for the worm shaft through the motor, so that the force required by a driver during steering is reduced; the clearance adjusting mechanism can adjust the meshing clearance between the worm shaft and the worm wheel shaft, and can solve the problem that the clearance is too large after the steering gear is in service for a long time.
The application is illustrated by the following specific examples.
As shown in fig. 1 to 9, an intelligent steering system is provided in an embodiment of the present application, which includes a steering transmission mechanism, an electric power assisting device, and a lash adjustment mechanism. The steering transmission mechanism comprises an input shaft 1, a worm shaft 20 and a worm wheel shaft 19 which are sequentially connected in a transmission way, wherein the worm shaft 20 is a spherical multi-head worm shaft, and the worm wheel shaft 19 is a conical involute helical gear worm shaft. The electric power assisting device comprises a motor 38 and a controller 21, the motor 38 is in transmission connection with the worm shaft 20, the motor 38 is fixed through a motor fixing bolt 39, the controller 21 is used for controlling output of the motor 38, and in the embodiment, the motor 38 is a high-torque permanent magnet synchronous motor. The backlash adjustment mechanism is used to adjust the backlash of the worm shaft 19 and the worm shaft 20. The input shaft 1 is fixedly connected with the worm shaft 20 at the shaft end, the input shaft 1 is used for transmitting steering wheel torque generated by a driver operating a steering wheel, and the steering wheel torque is transmitted to the input shaft 1 through a steering column and a universal transmission device; the controller 21 is used for controlling the output of the motor 38 according to the vehicle steering control information, and the input shaft 1 and the motor 38 simultaneously output torque to the worm shaft 20, so that the output force required by a driver during operation is reduced; the worm shaft 20 transmits torque to the worm wheel shaft 19, and the worm wheel shaft 19 transmits torque to a transmission structure on the steering wheel 57 to drive the steering wheel 57 to steer. In this embodiment, the steering transmission mechanism further includes a rocker shaft 27, the worm wheel shaft 19 and the rocker shaft 27 are fixed by a rocker lock nut 26, the worm wheel shaft 19 and the rocker shaft 27 rotate coaxially and synchronously, in some embodiments, the worm wheel shaft 19 and the rocker shaft 27 are integrally formed, the worm shaft 20 transmits torque to the worm wheel shaft 19, the worm wheel shaft 19 transmits torque to the rocker shaft 27, and the rocker shaft 27 transmits torque to a transmission structure on the steering wheel 57 to drive the steering wheel 57 to steer.
The transmission mechanism combining the spherical multi-head worm shaft and the conical involute helical gear shaft is used for replacing a circulating ball steering device in the prior art, and the worm and gear steering transmission mechanism combining the spherical multi-head worm shaft and the conical involute helical gear shaft is compact in structure and long in working life, can realize large torque output, and can be applied to heavy-duty commercial vehicles; meanwhile, the clearance adjusting mechanism can adjust the meshing clearance between the worm shaft 20 and the worm wheel shaft 19, and can meet the matching requirements of different space structures of different clients.
In this embodiment, as shown in fig. 1 and 2, the steering transmission mechanism is disposed in the steering mechanism housing 42, the steering mechanism housing 42 includes two worm cavities and a worm wheel cavity which are vertically disposed in the axial direction, the worm cavities are used for disposing the worm shafts 20, the worm wheel cavities are used for disposing the worm wheel shafts 19, one end of each worm cavity is provided with an opening from which the worm shafts 20 extend for installation, and after the installation is completed, the opening is sealed by using the steering mechanism housing lower cover 24, and the steering mechanism housing lower cover 24 is connected with the steering mechanism housing 42 by the lower cover fixing bolts 25. Similar to the worm gear cavity, the worm gear cavity is also provided with openings and corresponding steering mechanism housing side covers 33 and side cover fixing bolts 37. The output end of the worm wheel shaft 19 is provided with a steering system mounting bracket 51, and the steering system mounting bracket 51 is used for mounting an intelligent steering system.
In this embodiment, the tooth profile of the spherical multi-start worm of the worm wheel rod 20 is designed to be concave arc, and forms multi-point contact with the conical involute helical gear of the worm wheel shaft 19, so that the spherical multi-start worm has a compact structure, and can increase the meshing radius with the worm wheel shaft 19 and the rocker shaft 27 under the condition that the transmission speed ratio is the same, the acting force at each meshing point is reduced under the condition that the rocker shaft 27 outputs the torque equally, which is beneficial to the improvement of the bearing capacity, and the bearing capacity can be improved by 1.5 to 3 times.
In this embodiment, the worm shaft 20 is a non-self-locking large helix angle spherical multi-start worm, so that the rocker shaft 27 and the worm wheel shaft 19 can reversely transfer the resistance moment of the road surface to the worm shaft 20 and further to the steering wheel, and the driver can feel the road surface condition in real time.
The electric power assisting device is used for providing power assisting torque to the worm shaft 20 so as to reduce the operation difficulty of a driver, the controller 21 controls the output of the motor 38 according to the steering control information (in this embodiment, the vehicle speed, the steering wheel moment and the steering wheel angle information are included), therefore, as shown in fig. 1, in this embodiment, the electric power assisting device further includes a torque angle sensor 7, the torque angle sensor 7 is a non-contact sensor, the torque angle sensor 7 is connected to the controller 21 through a hard wire 71, the collected steering wheel moment and the angle information are converted into electric signals to the controller 21, when the steering wheel moment is transmitted to the input shaft 1, the input shaft 1 and the torsion bar 2 are connected through the torsion bar pin 3, the torsion bar 2 is deformed, the torque angle sensor 7 detects the moment change, a power assisting control strategy adapting to the structure is designed in the controller 21, the permanent magnet synchronous motor 38 is controlled to output the power assisting moment, and the power assisting moment is output to the worm shaft 20 to be overlapped with the hand moment of the driver to control the steering. In order to guarantee the working environment of the torque rotation angle sensor 7, a sensor cover 4 is arranged for protecting the torque rotation angle sensor 7, a sensor bracket 9 is arranged in the sensor cover 4, the sensor bracket 9 is used for fixing the torque rotation angle sensor 7, the sensor cover 4 is fixed through a sensor cover fixing bolt 8, and an input shaft bearing 6 is further arranged on the sensor cover 4 and used for installing the input shaft 1.
The gap adjusting mechanism is used for adjusting the meshing gap between the worm shaft 20 and the worm shaft 19, in this embodiment, as shown in fig. 2, the gap adjusting mechanism includes a gap adjusting bolt 35, a gap adjusting bolt first lock nut 31 and a gap adjusting bolt second lock nut 34, the gap adjusting bolt first lock nut 31 and the gap adjusting bolt second lock nut 34 are both in threaded connection with the gap adjusting bolt 35, the gap adjusting bolt first lock nut 31 locks the gap adjusting bolt 35 with the worm shaft 19, the gap adjusting bolt second lock nut 34 is used for locking the gap adjusting bolt 35 in a fixed position, the relative positions of the gap adjusting bolt first lock nut 31 and the gap adjusting bolt second lock nut 34 in the axial direction of the gap adjusting bolt 35 can be adjusted by adjusting the gap adjusting bolt 35, further, the position of the worm shaft 19 is adjusted to adjust the meshing gap between the worm shaft 19 and the worm shaft 20, and in order to ensure the gap adjusting effect, the axial direction of the gap adjusting bolt 35 should be set to be parallel to the axial direction of the worm shaft 19, in this embodiment, the gap adjusting bolt 35 is coaxially arranged with the worm shaft 19, and in order to facilitate adjustment, the gap adjusting bolt 35 extends out of the steering mechanism housing side cover 33, the gap adjusting bolt second lock nut 34 locks the gap adjusting bolt 35 with the steering mechanism housing side cover 33, and at least one of the gap adjusting bolt first lock nut 31 and the gap adjusting bolt second lock nut 34 is provided with threads at the outer end, the meshing gap between the worm shaft 19 and the worm shaft 20 can be adjusted by rotating the gap adjusting bolt first lock nut 31 or the gap adjusting bolt second lock nut 34, and a pretightening force is generated, after the adjustment is in place, the other nut is used for locking with the external thread connection of the first locking nut 31 of the clearance adjustment bolt or the second locking nut 34 of the clearance adjustment bolt.
In the working process of the steering system, torque is transmitted to the worm shaft 19 through the worm shaft 20, in order to ensure the accuracy and stability of torque transmission, the installation of the worm shaft 20 and the worm shaft 19 should be stable, in this embodiment, as shown in fig. 1 and 2, a pair of thrust aligning roller bearings are arranged between the worm shaft 20 and the steering mechanism housing 42, a first thrust aligning roller bearing 18 is arranged between the input end of the worm shaft 20 and the steering mechanism housing 42, the first thrust aligning roller bearing 18 is positioned through the steering mechanism housing 42 and the worm shaft 20, the outer ring of the first thrust aligning roller bearing 18 is fixed by the steering mechanism housing 42, and the inner ring is fixed by an upper shaft shoulder on the worm shaft 20; a second thrust self-aligning roller bearing 22 is arranged between the tail end of the worm shaft 20 and the steering mechanism shell 42, the outer ring of the second thrust self-aligning roller bearing 22 is fixed by the steering mechanism shell 42, the inner ring is fixed by a lower shaft shoulder on the worm shaft 20, in order to further enhance the stability of the second thrust self-aligning roller bearing 22, a second roller bearing nut 23 is also arranged for locking the second thrust self-aligning roller bearing 22, the second roller bearing nut 23 is screwed on the steering mechanism shell 42, the steering mechanism shell 42 is provided with threads near the inner hole at the tail end of the worm shaft 20, and the second roller bearing nut 23 is axially positioned and locked by the steering mechanism lower cover 24 to prevent looseness; a pair of output shaft needle bearings are provided between the worm wheel shaft 19 and the steering mechanism housing 42, the outer ring of the first output shaft needle bearing 29 is fixed by the steering mechanism housing 42, the needle is in contact with the output end of the worm wheel shaft 19, the outer ring of the second output shaft needle bearing 30 is fixed by the steering mechanism side cover 33, and the needle is in contact with the clearance adjustment side of the worm wheel shaft 19.
With the increase of the service time of the steering transmission mechanism, the transmission gap between the worm wheel shaft 19 and the worm shaft 20 (the transmission gap between the worm wheel shaft 19 and the worm shaft 20 refers to the instantaneous engagement gap between the worm wheel shaft 19 and the worm shaft 20 in the transmission process) may be larger and larger due to various factors, if the transmission gap is larger, the driver can generate the open feeling of hand force and the steering wheel return overshoot when operating the steering wheel, therefore, in the operation process, the current compensation needs to be performed on the motor 38 according to the transmission gap to eliminate the open feeling of the operation hand force and prevent the steering wheel return overshoot. In this embodiment, the intelligent steering system further includes a gap compensation device, where the gap compensation device includes a gap identification module and a gap compensation module, the gap identification module is used to obtain a transmission gap between the worm wheel shaft 19 and the worm shaft 20, and the gap compensation module is used to perform current compensation on the motor 38 according to the transmission gap between the worm wheel shaft 19 and the worm shaft 20.
Specifically, the method for obtaining the transmission gap between the worm shaft 19 and the worm shaft 20 by the gap identifying module is as follows: a nonlinear dead zone model of the backlash of the worm shaft and the worm wheel shaft is established based on the relation between the transmission torque when the worm shaft 20 and the worm wheel shaft 19 are in contact, the rotational angle difference between the worm shaft 20 and the worm wheel shaft 19, and the parameter to be identified:
Δθ(t)＝θ m -m*θ d
wherein T is the transmission torque when the worm and the worm are in contact, K is the rigidity coefficient of the worm and the worm to be identified, c is the damping coefficient of the worm and the worm, alpha is the transmission clearance to be identified, and theta m For the current position of the worm, θ d And m is the transmission ratio between the worm and the worm wheel.
Under the condition of better lubrication condition, the damping coefficient c of the worm gear and the worm can be taken as 0.
Then, carrying out parameter identification on the model, and writing a linear regression equation of the model to be identified at the kth sampling time as follows:
T(k)＝KΔθ(k)-Kα(Δθ(k)＞α)
the form of the matrix is as follows:
Y(k)＝φ(k)X
wherein: y (k) is the system output at time k, Y (k) =t (k); phi (k) is the k moment input quantity matrix, phi (k) = [ delta theta (k) -1]The method comprises the steps of carrying out a first treatment on the surface of the X is a parameter matrix to be identified, and X= [ K K alpha ]] T 。
Using a least square method with forgetting factors, introducing forgetting factors lambda to obtain a recursive formula:
A(k)＝P(k-1)φ T (k)[λ+φ(k)P(k-1)φ T (k)] -1
wherein A (k) is a gain matrix at k time, I is an identity matrix,the parameter matrix obtained by identifying the k moment and the k-1 moment, and the P (k) and the P (k-1) are covariance matrices of the k moment and the k-1 moment respectively.
Parameters K and alpha to be identified can be obtained by a recurrence formula.
After the transmission clearance alpha is obtained, the clearance compensation module performs current compensation on the motor 38 according to the transmission clearance alpha, and the compensation method is as follows: when the identified α is less than or equal to the first threshold, the gap compensation is performed, and in this embodiment, the first threshold is set to 5 °.
Firstly, according to the transmission clearance alpha, the moment T needing compensation can be obtained com ：
From this, it can be seen that T+T com The linear function of the over-origin with respect to the interpolation of the worm wheel and worm angle can be approximated, and therefore the gap compensation current required to compensate the motor 38 can be equivalently obtained as:
i * T (k)＝T com (k)/K t
wherein i is * T To compensate the current for the gap, K t Is the motor torque coefficient.
When the alpha obtained by identification is larger than a set threshold value, namely 5 degrees, the clearance alarm signal prompts a driver that the clearance is too large and needs to be overhauled in time when the clearance compensation strategy is carried out.
As shown in fig. 7, the backlash model before the backlash compensation and the equivalent backlash model after the backlash compensation according to the present application are shown, and thus, the backlash compensation module performs current compensation on the motor 38, so that the open feeling of the operating hand force caused by the transmission backlash can be eliminated, and the steering wheel can be prevented from being back-up and overshooting.
As is clear from the foregoing description, it is necessary to acquire the rotational angle information of the worm wheel shaft 19 during the backlash compensation. In one embodiment, as shown in fig. 8, a worm wheel shaft angle sensor 47 is disposed at the end of the worm wheel shaft 19, the worm wheel shaft angle sensor 47 directly measures the rotation angle information of the worm wheel shaft 19, the worm wheel shaft angle sensor 47 is mounted on a worm wheel shaft angle sensor bracket 48, and the worm wheel shaft angle sensor bracket 48 is mounted on the rocker arm lock nut 26, so as to ensure that the worm wheel shaft angle sensor 47 can stably and accurately measure the rotation angle information of the worm wheel shaft 19. In another embodiment, as shown in fig. 9, a kingpin angle sensor 53 is disposed on a kingpin of a steering wheel, the kingpin angle sensor 53 measures the angle information of a steering wheel 57, the angle information of a worm wheel shaft 19 is obtained by reverse thrust of a steering rod system (including a steering knuckle 55 and other structures), a sensor shield 52 is further disposed on the kingpin of the steering wheel, the sensor shield 52 covers the kingpin angle sensor 53, a kingpin angle sensor bracket 54 is disposed on a front axle 56, and the kingpin angle sensor bracket 54 is used for mounting the kingpin angle sensor 53.
The electric power assist device is used to provide assist torque to the worm shaft 20 to reduce the difficulty of operation of the driver, because the rotational speed of the motor 38 is often high and cannot be directly connected to the worm shaft 20, and in this embodiment, the electric power assist device further includes a speed reduction mechanism through which the motor 38 is connected to the worm shaft 20.
Specifically, as shown in fig. 1, the speed reducing mechanism in the present embodiment is a synchronous belt speed reducing mechanism including a synchronous pulley 12, a synchronous belt 11, and a passive synchronous pulley 13. The driving synchronous pulley 12 is radially fixed on the output shaft of the motor 38 by the driving synchronous pulley flat key 14, the driven synchronous pulley 13 is radially fixed on the input end of the worm shaft 20 by the driven synchronous pulley flat key 15, the synchronous belt 11 is connected with the synchronous pulley 12 and the driven synchronous pulley 13, the synchronous belt speed reducing mechanism is supported by a speed reducing mechanism shell 44, the speed reducing mechanism shell 44 is fixedly connected with the steering mechanism shell 42 by a speed reducing mechanism shell bolt 43, and the synchronous belt speed reducing mechanism has high transmission efficiency and is convenient to use and maintain.
With the increase of the service time of the electric power assisting device, the corner hysteresis phenomenon (such as slipping of a synchronous belt, overlarge gap of a worm gear and a worm, and the like) of the speed reducing mechanism may occur, and the hysteresis phenomenon can bring great negative influence to the operation of the steering system, so that the hysteresis phenomenon needs to be detected. In this embodiment, the intelligent steering system further includes a hysteresis detection module, where the hysteresis detection module is configured to detect whether a corner hysteresis occurs in the speed reduction mechanism. The method for detecting whether the rotation angle hysteresis occurs in the speed reducing mechanism by the hysteresis detection module comprises the following steps: and in a rotation angle hysteresis judging period, judging that rotation angle hysteresis occurs if the number of times that the difference value of the product of the rotation angle of the motor rotor, the rotation angle of the driven part of the speed reducing structure and the transmission ratio of the speed reducing mechanism is larger than a second threshold value is larger than a third threshold value, and judging that rotation angle hysteresis does not occur if the difference value is smaller than the third threshold value.
Specifically, the determination condition for the occurrence of the rotation angle hysteresis of the speed reducing mechanism is:
θ n -i*θ c ＞ε
in θ n For the angle, θ, of rotation of the motor rotor e And i is the transmission ratio of the speed reducing mechanism, epsilon is a set second threshold value and is determined according to actual requirements.
And introducing a counting parameter count, and in each corner hysteresis judging period, when the judging conditions are met, performing count++, setting a third threshold value n, and when the count > n, judging that the motor speed reducing mechanism fails, and prompting a driver to overhaul in time.
The motor position sensor outputs the relative rotation angle of the motor, and the absolute rotation angle of the motor rotor can be obtained only by converting the rotation angle. In this embodiment, taking a motor position signal sent to the MCU by the motor through SPI communication as an example, the range of the motor position signal is between 0 and 4095 (corresponding to one turn of motor corner), when the motor rotates clockwise more than one turn, the motor position signal will jump from 4095 to 0 falling edge, when the motor rotates anticlockwise more than one turn, the motor position signal will jump from 0 to 4095 rising edge, therefore, in order to obtain the steering wheel corner under the condition of knowing the motor position signal, it is necessary to know how many times the motor has passed through the rising edge jump and the falling edge jump, and the conversion formula of the corner is:
in θ n For the angle of rotation of the motor rotor, k 1 、k 2 The times of the motor position signal experiencing the falling edge and the rising edge are respectively shown, N is the signal value of the motor position sensor, and theta offset Respectively the initial offset when the motor is powered up. In this embodiment, in the pure electric steering system, the highest rotation speed of the motor is 5000r/min, and the conversion period of the steering wheel angle is 1ms, if no rising edge or no falling edge is experienced, the maximum value of the change of the motor rotor position signals of two adjacent sampling points is:
therefore, the judgment conditions of the falling edge of the motor position are as follows:
N t+1 -N t ＜ΔN max -4095
wherein N is t+1 ,N t And the motor position signal values are respectively at the time t+1 and the time t, and when the falling edge of the motor position is detected, the falling edge count is increased by one.
The judgment conditions of the rising edge of the motor position are as follows:
N t+1 -N t ＞4095-ΔN max
wherein N is t+1 ,N t Respectively t+1And (5) etching a motor position signal value at the moment t, and adding one to the rising edge count when the rising edge of the motor position is detected.
In order to ensure the service life of the intelligent steering system, a relatively stable working environment should be provided for each component, so in this embodiment, the intelligent steering system is provided with a plurality of oil seals and sealing rings for ensuring the working environment of each component to be stable.
Specifically, as shown in fig. 1 and 2, a worm shaft oil seal 28 is provided between a steering mechanism housing 42 and a worm shaft 19, a side cover and worm shaft seal 36 is provided between a steering mechanism side cover 33 and the worm shaft 19, an input shaft oil seal 5 is arranged inside a sensor cover 4 and at the upper part of an input shaft bearing 6, an electric power-assisted housing and steering mechanism housing seal 16 is provided at the junction of an electric power-assisted housing 44 and the steering mechanism housing 42, a motor seal 17 is provided between a motor output shaft and the motor housing, a side cover and housing seal 32 is provided between the steering mechanism housing 42 and the steering mechanism side cover 33, a sensor cover seal 46 is provided inside the sensor cover 4, a support frame seal 10 is provided between a sensor support frame 9 and the electric power-assisted housing 44, the sensor support frame 9 isolates a torque angle sensor 7 from an electric power-assisted device synchronous belt speed reducing mechanism into two relatively independent cavities, an inter-worm shaft and steering mechanism housing oil seal 45 isolates a steering transmission mechanism from the electric power-assisted device synchronous belt speed reducing mechanism into two relatively sealed cavities, the steering transmission mechanism is lubricated by gear oil, the steering mechanism housing 42 is provided with an oil filler port, the lubricating oil before loading is filled from the oil port, and then the oil port is sealed by using the oil port 40, and the oil filler port is sealed by tightening the nut 40.
The steering system in this embodiment can realize a plurality of assist modes including a power steering mode, a assisted driving mode, and an automatic driving mode. The steering system mainly comprises a basic power-assisted steering mode, a torque compensation mode, a neutral position compensation mode, an inertia compensation mode, a damping compensation mode, a friction compensation mode, an active correcting mode and a clearance compensation mode, wherein expected currents calculated by all the control modules are summed to obtain an expected current value of the motor power-assisted steering mode. And in the auxiliary driving mode, the steering system performs torque superposition steering control, and the torque required by an auxiliary driving function (such as LKA) and the torque required by power assisted steering are superposed to obtain a motor expected current value. And under the automatic driving mode, the steering system adopts three closed-loop control on the steering motor, and the automatic driving controller gives a target steering wheel angle and obtains a motor steering expected current value through the position controller and the speed controller. The power-assisted mode of the steering system can be switched, and in the power-assisted steering mode, the steering system can be manually switched to an auxiliary driving mode or an automatic driving mode; in the automatic driving mode, the auxiliary driving mode or the power steering mode can be switched according to the moment acted on the steering wheel and the acting time, and the integral action of the moment to the time reaches a calibrated intervention threshold value.
Specifically, as shown in fig. 10, the control modules of the steering system include a lash compensation module, a power steering control, a torque overlay steering control, a position servo steering control, a failsafe and mode switching, and a current loop control.
The power steering control module is used for carrying out neutral position self-adaptive algorithm adjustment on steering wheel torque, LKA steering wheel superposition torque, vehicle speed, steering wheel rotation angle and rotation speed, and carrying out basic power assist, torque compensation, neutral position compensation, inertia compensation, damping compensation, friction compensation and active correction control links on input variables, and then summing to obtain the expected current required by motor power assist.
The torque superposition steering control module calculates the superposition torque of the steering wheel and inputs the superposition torque of the steering wheel to the basic power-assisted control link so as to realize the auxiliary driving mode of the vehicle.
The position servo module is mainly applied to a vehicle automatic driving mode. And the target steering wheel angle calculated by the upper-layer automatic driving controller is used as input, and the motor steering expected current is obtained through position closed-loop control and speed closed-loop control.
The fault protection and mode switching module sets dead point protection and thermal protection current limiting links. The module is in a power-assisted steering mode, and the steering system can be manually switched to an auxiliary driving mode and an automatic driving mode; in the automatic driving mode, the auxiliary driving mode or the power steering mode can be switched according to the moment acted on the steering wheel and the acting time, and the integral action of the moment to the time reaches a calibrated intervention threshold value.
The current loop control module inputs the expected current of the motor calculated by the module, and the expected current and the actual current are differenced to generate PWM signals through the current controller, so that the motor is subjected to closed-loop control, and the motor effectively follows the expected current.
The self-adaptive algorithm in the power-assisted steering module mainly considers that the steering system corner represented by the commercial vehicle when the vehicle runs straight is influenced by different loads (or the problems of tire pressure, four-wheel positioning and the like) due to the chassis structure of the non-independent suspension. And may cause the driver to apply additional torque in the corner, which may result in increased driver operating pressure. In this case, torque compensation and rotation angle compensation are required for the steering wheel in the neutral position.
The intelligent steering system in the embodiment adopts a worm and gear steering transmission mechanism combining a spherical multi-head worm shaft and a conical involute helical gear worm shaft to replace a circulating ball steering device of a commercial vehicle in the prior art. The full electric power steering system of the medium-heavy load commercial vehicle is realized, the advantages of the electric power steering mechanism are fully exerted, the speed-following power-assisting function is provided under the condition of high load output, the requirement of continuously increasing steering torque of the commercial vehicle is met under the condition of pure electric power assisting, and the bearing capacity of the steering system is improved; the spherical multi-head worm has a large helix angle and good resilience performance, and the worm wheel and worm steering transmission mechanism combined by the spherical multi-head worm shaft and the conical involute helical gear shaft has a compact structure and long service life, can realize light steering with low-speed large-torque output and good real-time steering driving feel at high speed, and ensures the travelling comfort and safety of a driver; the worm and gear steering transmission mechanism adopts a thread gap adjusting mode to meet the matching requirements of different space structures of different clients. The outer end of one nut is provided with a flange, the outer end of the other nut is provided with threads without a flange, when the round nut is rotated, the gap can be eliminated, a pre-tightening force is generated, and the other nut is used for locking after the adjustment; the clearance compensation module can realize clearance compensation of the steering gear, and as the working time of the steering gear increases, the working clearance increases, and the hand force and the return performance in the power-assisted mode can be influenced. The adoption of the clearance compensation can prevent the driver from feeling spaciousness of hand force and prevent the positive overshoot of the check.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (10)
1. An intelligent steering system, comprising:
the steering transmission mechanism comprises an input shaft, a worm shaft and a worm shaft which are sequentially connected in a transmission manner;
the electric power assisting device comprises a motor and a controller, the motor is in transmission connection with the worm shaft, and the controller is used for controlling the output of the motor;
and a gap adjustment mechanism for adjusting a meshing gap between the worm shaft and the worm shaft;
the input shaft is used for transmitting steering wheel moment, the controller is used for controlling output of the motor according to vehicle steering control information, the input shaft and the motor simultaneously output torque to the worm shaft, the worm shaft transmits the torque to the worm wheel shaft, and the worm wheel shaft transmits the torque to the steering wheel so as to drive the steering wheel to steer;
the worm shaft is a spherical multi-head worm shaft, and the worm shaft is a conical involute helical gear shaft.
2. The intelligent steering system of claim 1, wherein the lash adjustment mechanism includes a lash adjustment bolt, a lash adjustment bolt first lock nut, and a lash adjustment bolt second lock nut, the lash adjustment bolt first lock nut and the lash adjustment bolt second lock nut both being threadably coupled to the lash adjustment bolt, the lash adjustment first lock nut locking the lash adjustment bolt to the worm shaft, the lash adjustment bolt second lock nut for locking the worm shaft, an axial direction of the lash adjustment bolt being parallel to an axial direction of the worm shaft; the relative positions of the first lock nut of the clearance adjusting bolt and the second lock nut of the clearance adjusting bolt in the axial direction of the clearance adjusting bolt can be adjusted through the clearance adjusting bolt, so that the axial position of the worm wheel shaft can be adjusted, and the meshing clearance of the worm wheel shaft and the worm shaft can be adjusted.
3. The intelligent steering system of claim 1, further comprising: the gap compensation device comprises a gap identification module and a gap compensation module; the gap identification module is used for acquiring the transmission gap between the worm wheel shaft and the worm shaft, and the gap compensation module is used for carrying out current compensation on the motor according to the transmission gap between the worm wheel shaft and the worm shaft.
4. The intelligent steering system of claim 3, wherein the clearance identification module obtains the transmission clearance between the worm shaft and the worm shaft by: establishing a nonlinear dead zone model of the backlash of the worm shaft and the worm wheel shaft according to the relation between the transmission torque when the worm shaft and the worm wheel shaft are contacted, the rotation angle difference value of the worm shaft and the worm wheel shaft and the parameter to be identified; carrying out parameter identification of the model to obtain a model linear regression equation at a certain sampling moment; using a least square method with forgetting factors to obtain a recursive formula on a gain matrix, a recursive formula on a parameter matrix and a recursive formula on a covariance matrix; and obtaining parameters to be identified according to a recursive formula about the gain matrix, a recursive formula about the parameter matrix and a recursive formula about the covariance matrix, wherein the parameters to be identified comprise transmission gaps of the worm wheel shaft and the worm shaft.
5. The intelligent steering system of claim 4, wherein the lash compensation module current compensates the motor according to a transmission lash of the worm shaft and the worm shaft by: when the transmission clearance between the worm wheel shaft and the worm shaft is smaller than or equal to a first threshold value, a clearance compensation current is obtained according to the transmission clearance between the worm wheel shaft and the worm shaft, and the clearance compensation module performs current compensation on the motor according to the clearance compensation current; and when the transmission clearance between the worm wheel shaft and the worm shaft is larger than a first threshold value, alarming is carried out besides current compensation on the motor.
6. The intelligent steering system according to claim 1, wherein the electric assist device further includes a speed reduction mechanism, and the motor is connected to the worm shaft through the speed reduction mechanism.
7. The intelligent steering system of claim 6, wherein the speed reducing mechanism is a synchronous belt speed reducing mechanism comprising a synchronous pulley, a synchronous belt and a passive synchronous pulley, wherein the synchronous pulley is fixed on an output shaft of the motor, the passive synchronous pulley is fixed at an input end of the worm shaft, and the synchronous belt is connected with the synchronous pulley and the passive synchronous pulley.
8. The intelligent steering system of claim 6, further comprising: a hysteresis detection module; the hysteresis detection module is used for detecting whether the speed reducing mechanism has corner hysteresis.
9. The intelligent steering system of claim 8, wherein the hysteresis detection module detects whether a corner hysteresis has occurred in the reduction mechanism by: in a rotation angle hysteresis judging period, judging that rotation angle hysteresis occurs if the number of times that the difference value of the product of the rotation angle of the motor rotor, the rotation angle of the driven part of the speed reducing structure and the transmission ratio of the speed reducing mechanism is larger than a second threshold value is larger than a third threshold value, and judging that rotation angle hysteresis does not occur if the difference value is smaller than the third threshold value; the motor rotor turning angle is obtained through conversion of rising edge jump times and falling edge jump times of motor position signals.
10. The intelligent steering system of claim 1, wherein the worm shaft is a non-self-locking large helix angle spherical multi-start worm.
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