CN116873033A - Steering actuator structure, steering method, steering system and vehicle - Google Patents
Steering actuator structure, steering method, steering system and vehicle Download PDFInfo
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- CN116873033A CN116873033A CN202311033500.0A CN202311033500A CN116873033A CN 116873033 A CN116873033 A CN 116873033A CN 202311033500 A CN202311033500 A CN 202311033500A CN 116873033 A CN116873033 A CN 116873033A
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- steering
- screw rod
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- movement
- steering actuator
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000006698 induction Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000001939 inductive effect Effects 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 9
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 230000002452 interceptive effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007789 sealing 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
-
- 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
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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
The application relates to a steering actuator structure, a steering method, a steering system and a vehicle, and relates to the technical field of vehicle steering systems. The steering actuator structure comprises a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assemblies are used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position and improve the interactive experience of the user steering process.
Description
Technical Field
The application relates to the technical field of vehicle steering systems, in particular to a steering actuator structure, a steering method, a steering system and a vehicle.
Background
A Steering System (Steering System) is a complete set of mechanisms for Steering the Steering wheel to achieve Steering of the vehicle to change or maintain the direction of travel or reverse of the vehicle. The automobile steering system has the function of controlling the running direction of the automobile according to the intention of a driver, and is used for changing the running direction of the automobile according to the requirement by rotating a steering wheel by the driver. At present, power steering systems commonly used in automobiles can be classified into two types according to power sources, namely, a mechanical power steering system and an electronically controlled power steering system, wherein the mechanical power steering system is a steering system which is operated by the power of the arms of a driver, and the power steering system is a steering system which is operated by power. In the technical field of automobile systems, the installation space of the steering system is greatly released, but due to mechanical decoupling, a driver easily turns excessively when turning the steering wheel, and consistency of target steering and actual steering is difficult to ensure. Furthermore, the steering system needs to enable feedback interaction with the user.
Accordingly, it is desirable to provide a steering actuator structure, a steering method, a steering system, and a vehicle, including a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assemblies are used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position and improve the interactive experience of the user steering process.
Disclosure of Invention
According to a first aspect of some embodiments of the present application, there is provided a steering actuator structure, which may include a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assembly is used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
In some embodiments, the steering actuator further comprises a support bushing for providing a degree of support during movement of the lead screw.
In some embodiments, the steering actuator further comprises an O-ring for reducing impact noise of the ball seat at an end position of the rotational travel.
In some embodiments, the inductive sensor assembly includes an inductive mass and an inductive chip.
In some embodiments, the steering actuator further comprises an anti-roll-over block, the sensing block being fixed in the anti-roll-over block for movement with the lead screw.
According to a second aspect of some embodiments of the present application, there is provided a steering method, to which the steering actuator structure of the present application is applied, the method including acquiring a target position of movement of a screw; determining a target torque according to the target position; converting the target torque to a screw thrust; and transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
In some embodiments, the target steering and the actual steering are coordinated by the steering actuator transmitting the actual steering position to the feel simulator.
In some embodiments, the anti-overturning block is used for limiting the movement of the screw rod to axial movement, and the sensing block is used for feeding back a screw rod movement position signal to the hand feeling simulator for interaction.
According to a third aspect of some embodiments of the present application, there is provided a steering system, employing the steering actuator arrangement of the present application.
According to a fourth aspect of some embodiments of the present application there is provided a vehicle employing the steering actuator arrangement of the present application.
The application discloses a steering actuator structure, a steering method, a steering system and a vehicle, and relates to the technical field of vehicle steering systems. The steering actuator structure comprises a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assemblies are used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position and improve the interactive experience of the user steering process.
Drawings
For a better understanding and to set forth embodiments of the application, reference will now be made to the description of embodiments taken in conjunction with the accompanying drawings in which like reference numerals identify corresponding parts throughout.
FIG. 1 is an exemplary schematic illustration of a steering actuator configuration provided in accordance with some embodiments of the application.
FIG. 2 is an exemplary schematic diagram of a steering actuator function provided in accordance with some embodiments of the application.
FIG. 3 is an exemplary schematic illustration of a steering actuator power architecture provided in accordance with some embodiments of the present application.
FIG. 4 is an exemplary schematic diagram of a steering actuator sensing sensor provided in accordance with some embodiments of the application.
Detailed Description
The following description, with reference to the accompanying drawings, is provided to facilitate a comprehensive understanding of various embodiments of the application defined by the claims and their equivalents. These embodiments include various specific details for ease of understanding, but these are to be considered exemplary only. Accordingly, those skilled in the art will appreciate that various changes and modifications may be made to the various embodiments described herein without departing from the scope and spirit of the application. In addition, descriptions of well-known functions and constructions will be omitted herein for brevity and clarity of description.
The terms and phrases used in the following specification and claims are not limited to a literal sense, but rather are only used for the purpose of clearly and consistently understanding the present application. Thus, it will be appreciated by those skilled in the art that the descriptions of the various embodiments of the present application are provided for illustration only and not for the purpose of limiting the application as defined by the appended claims and their equivalents.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in this disclosure refers to and encompasses any or all possible combinations of one or more of the associated listed items. The expressions "first", "second", "said first" and "said second" are used for modifying the respective elements irrespective of order or importance, and are used merely for distinguishing one element from another element without limiting the respective elements.
The embodiment of the application provides a steering actuator structure, a steering method, a steering system and a vehicle, and in order to facilitate understanding of the embodiment of the application, the embodiment of the application will be described in detail below with reference to the accompanying drawings.
FIG. 1 is an exemplary schematic illustration of a steering actuator configuration provided in accordance with some embodiments of the application. As shown in fig. 1, the steering actuator structure comprises a motor and a controller 1; an induction sensor assembly 2 for monitoring the target position of the movement of the screw; a screw assembly 3; a transmission mechanism 4, which comprises a pulley pair or a worm-gear pair and is used for transmitting the target torque of the motor to the screw rod assembly, wherein the target torque is used for being converted into the screw rod thrust; the shell 5 is rigidly connected with the whole vehicle; and the inner and outer pull rod assembly 6 is used for transmitting the pushing force of the screw rod to the tire so as to realize the target steering position.
In some embodiments, the steering actuator further comprises a support bushing 7 for providing a degree of support during movement of the screw. The steering actuator further includes an O-ring for reducing impact noise of the ball mount at an end position of the rotational travel. As an example, the screw may be provided with support bushings 7 on both the left and right sides during axial movement. For another example, the support bush 7 is combined with an O-ring to reduce impact noise and the like caused by end limit when the lock to lock (steering wheel is turned from one end limit to the other end limit position), and also to support the impact force and the like of the reverse transmission of the tie rod received by the screw rod to a certain extent.
In some embodiments, the inductive sensor assembly 2 includes an inductive mass and an inductive chip. The steering actuator further comprises an anti-overturning block, and the sensing block is fixed in the anti-overturning block and moves along with the screw rod. The sensing chip is fixed in a main housing of the sensing sensor. The screw assembly 3 may be a ball screw assembly. As an example, the ball screw assembly drives an anti-overturning block in the moving process, and the anti-overturning block can be an anti-overturning limiting valve block used for limiting the movement of the screw to axial movement. For another example, the sensing block arranged in the anti-overturning block can sense with the sensing chip through the axial movement of the screw rod, so that the moving position of the screw rod is monitored, and the acquired moving position signal of the screw rod is fed back to the hand feeling simulator for interaction. Further, the steering system of the steering actuator may further include extended functions such as steering wheel silence, steering gear silence, etc. The steering wheel silence function may enable no steering wheel movement when the tire is turned. The silent function of the steering gear can realize that the tire does not move when the steering wheel rotates, so as to realize the real hand feeling during user interaction.
In some embodiments, the housing 5 is a cast aluminum housing, and the steering actuator is mounted on the auxiliary frame of the whole vehicle through the cast aluminum housing and is rigidly connected with the whole vehicle. The steering execution command is obtained through the private CAN under the working state of the steering actuator, the target torque of the motor is transmitted to the screw rod assembly 3 through the pulley pair or the worm gear pair of the transmission mechanism 4, the motor torque is converted to the screw rod push-pull force, meanwhile, the target position of the screw rod movement is monitored through the induction sensor 2, and the screw rod push-pull force is transmitted to the tire through the inner and outer pull rod assembly 6, so that the target steering position of a user is realized. As an example, the steering actuator transmits the actual steering position to the hand feel simulator through the private CAN to achieve the goal of consistent target steering and actual steering. As another example, the motor may include, but is not limited to, a six-phase brushless ac motor or a ten-phase ac motor, etc., which is used to obtain the target torque by calculating the target torque through the controller based on the CAN data, and which transmits the assist torque generated by the control system to the screw assembly 3 through the transmission mechanism 4.
According to some embodiments of the present application, the steering method of the steering actuator structure may include acquiring a target position of movement of a lead screw; determining a target torque according to the target position; converting the target torque to a screw thrust; and transmitting the thrust of the screw rod to the tire so as to realize the target steering position. The actual steering position is transmitted to the hand feeling simulator through the steering actuator, so that the target steering is consistent with the actual steering. The anti-overturning block is used for limiting the movement of the screw rod to axial movement, and the induction block is used for feeding back a screw rod movement position signal to the hand feeling simulator for interaction. As an example, the steering actuator obtains a target position of the hand feeling simulator through the private CAN, determines a target torque of the motor through the control system, and converts the target torque to a target pushing force or pulling force through a pulley pair or a worm gear pair of the transmission mechanism, a ball screw and the like, so as to achieve the steering purpose.
According to some embodiments of the present application, the steering system of the present application may include a steering actuator structure to which the present application is applied, and perform the above-described steering method. The steering actuator structure may include a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assembly is used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
According to some embodiments of the application, the vehicle of the application may include a steering actuator structure to which the application is applied, and perform the above-described limiting method. The steering actuator structure may include a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assembly is used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
FIG. 2 is an exemplary schematic diagram of a steering actuator function provided in accordance with some embodiments of the application. As shown in fig. 2, after the signal of the target position adder of the screw rod is overlapped with the signal of the virtual end position terminator, the target position of the movement of the screw rod is calculated. The screw rod position sensor and the superimposed signal are transmitted to a control mode manager together, the control mode manager processes the signal, and the signal and the screw rod push-pull force estimator are transmitted to a screw rod target position tracking controller together. Outputting target torque to the screw rod through the motor according to the calculation information, and converting the target torque into push-pull force of the screw rod; meanwhile, signals of the screw rod push-pull force estimator are transmitted to the hand feeling simulator end in real time for internal diagnosis and estimation. The target torque is transferred to a steering actuator for achieving a target steering position.
According to some embodiments of the present application, when a user transmits a rotation target angle, a steering wheel rotation speed and a rotation moment through the hand feeling simulator, the steering actuator obtains a target position of the hand feeling simulator through the private CAN, determines a target torque of the motor through the control system, and converts the target torque into a target pushing force or pulling force through the pulley pair or the worm gear pair and the ball screw structure, so as to achieve the steering purpose.
FIG. 3 is an exemplary schematic illustration of a steering actuator power architecture provided in accordance with some embodiments of the present application. As shown in fig. 3, the main power transmission structure includes a booster motor 31 driving a pulley 34 through a belt 32, and then converting a booster torque into a booster pulling force through a ball screw assembly, and mounting points are placed on a screw housing 33 and a housing cover 35 for fixation.
FIG. 4 is an exemplary schematic diagram of a steering actuator sensing sensor provided in accordance with some embodiments of the application. As shown in fig. 4, an induction block and an anti-overturning block are arranged in an anti-overturning block 44 and are fixed on a screw rod 45 through bolts, the anti-overturning block 44 moves in a rail groove in a shell 41 in a axial direction and is in clearance fit with a shell wall, an induction chip 42 is fixed inside the shell, and a sealing cover plate 43 is arranged above the induction chip and is insulated from the outside. As an example, the inductive sensor and the anti-overturning block are integrally placed inside the screw rod housing, and the printed circuit board structure PCB (Printed Circuit Board) and the inductor adopt a non-contact dual-redundancy structure to monitor and transmit the screw rod position signal to the private CAN.
It should be noted that the above description of the steering actuator structure and the vehicle is for convenience only and is not intended to limit the application to the scope of the illustrated embodiments. It will be understood by those skilled in the art that various modifications and changes in form and detail of the functions of implementing the above-described apparatus and operations may be made to the individual structures in any combination or constituent sub-structures with other structures without departing from the principles of the present apparatus based on the principles. For example, the steering actuator structure may further include a limit structure or the like. Such variations are within the scope of the application.
In summary, the application relates to a steering actuator structure, a steering method, a steering system and a vehicle, and relates to the technical field of vehicle steering systems. The steering actuator structure comprises a motor and a controller; the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod; a screw rod assembly; the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust; the shell is rigidly connected with the whole vehicle; and the inner and outer pull rod assemblies are used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position and improve the interactive experience of the user steering process.
It should be noted that the above-described embodiments are merely examples, and the present application is not limited to such examples, but various changes may be made.
It should be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above disclosure is illustrative of only some of the preferred embodiments of the present application and should not be taken as limiting the scope of the application, as those skilled in the art will recognize that all or part of the structures described above may be implemented and equivalents thereof may be substituted for elements thereof which are shown in the claims below and still fall within the true scope of the present application.
Claims (10)
1. A steering actuator structure, comprising:
a motor and a controller;
the induction type sensor assembly is used for monitoring the target position of the movement of the screw rod;
a screw rod assembly;
the transmission mechanism comprises a pulley pair or a worm and gear pair and is used for transmitting target torque of the motor to the screw rod assembly, and the target torque is used for being converted into the screw rod thrust;
the shell is rigidly connected with the whole vehicle;
and the inner and outer pull rod assembly is used for transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
2. The structure of claim 1, wherein the steering actuator further comprises a support bushing for providing a degree of support during movement of the lead screw.
3. The structure of claim 2, wherein the steering actuator further comprises an O-ring for reducing impact noise of the ball socket at an end position of a rotational stroke.
4. The structure of claim 1, wherein the inductive sensor assembly comprises an inductive mass and an inductive chip.
5. The structure of claim 5, wherein the steering actuator further comprises an anti-roll block, the sensing block being secured in the anti-roll block for movement with the lead screw.
6. A steering method, comprising:
acquiring a target position of the movement of the screw rod;
determining a target torque according to the target position;
converting the target torque to a screw thrust;
and transmitting the thrust of the screw rod to the tire so as to realize the target steering position.
7. The method of claim 6, wherein the target steering and the actual steering are coordinated by the steering actuator transmitting the actual steering position to the hand simulator.
8. The method according to claim 7, wherein the screw movement is limited to axial movement by the anti-overturning block, and the screw movement position signal is fed back to the hand feeling simulator by the sensing block for interaction.
9. A steering system, characterized by: use of a steering actuator arrangement according to any one of claims 1 to 5.
10. A vehicle, characterized in that: use of a steering actuator arrangement according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311033500.0A CN116873033A (en) | 2023-08-16 | 2023-08-16 | Steering actuator structure, steering method, steering system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311033500.0A CN116873033A (en) | 2023-08-16 | 2023-08-16 | Steering actuator structure, steering method, steering system and vehicle |
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| CN116873033A true CN116873033A (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311033500.0A Pending CN116873033A (en) | 2023-08-16 | 2023-08-16 | Steering actuator structure, steering method, steering system and vehicle |
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| CN216969790U (en) * | 2021-10-28 | 2022-07-15 | 比亚迪股份有限公司 | Vehicle steering device and vehicle |
| CN216886895U (en) * | 2021-12-30 | 2022-07-05 | 中汽创智科技有限公司 | Steering actuator, steer-by-wire system and vehicle |
| CN218839566U (en) * | 2022-01-10 | 2023-04-11 | 现代摩比斯株式会社 | Steering actuator apparatus for vehicle |
| CN218489736U (en) * | 2022-09-14 | 2023-02-17 | 博世华域转向系统有限公司 | Single-gear electric power steering engine |
| CN116873025A (en) * | 2023-08-16 | 2023-10-13 | 上海同驭汽车科技有限公司 | Belt pulley type steer-by-wire electric adjustment steering column and system |
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