CN201158407Y - Electric power-assisted steering apparatus with medium recognition - Google Patents
Electric power-assisted steering apparatus with medium recognition Download PDFInfo
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- CN201158407Y CN201158407Y CNU2007200646902U CN200720064690U CN201158407Y CN 201158407 Y CN201158407 Y CN 201158407Y CN U2007200646902 U CNU2007200646902 U CN U2007200646902U CN 200720064690 U CN200720064690 U CN 200720064690U CN 201158407 Y CN201158407 Y CN 201158407Y
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Abstract
An electric power-assisted steering device with meso-position identification includes a mechanical assembly and an electric control device. The mechanical assembly includes a worm and gear casing body, a worm and gear assembly, a servo motor, a pinion and rack assembly, a torsional moment sensor, a meso-position sensor and two tie beams. The torsional moment signal and the vehicle speed signal sensed by the torsional moment sensor control the target current value including the current strength and the current direction of the servo motor to be inputted into the electric control device; the electric control device can carry out power-assisted adjustment to the servo motor; the torsional moment of the motor is transferred to the tie beams through the worm and gear assembly and the pinion and rack assembly; the tie beams apply the steering force to vehicle steering wheels, thereby forming the vehicle steering. The electric power-assisted steering device can realize power-assisted steering, determine whether the vehicle is in the meso-position, and utilize the meso-position signals to carry out active aligning control. The structure thereof is simple, the cost is low, no limit of 360 DEG exists, and no initial value is required for calculation.
Description
Technical field
The utility model relates to the steering hardware that a kind of vehicle uses, particularly a kind of electric power-assisted steering apparatus with meta identification.
Technical background
Along with the development of vehicle electric technology, the electric power-assisted steering apparatus of vehicle obtains widespread use with advantages such as its environmental protection, little, the flexible design of economizing on electricity, take up room, control policy are easy to adjust.The return performance of vehicle is an importance of vehicle handling stability, electric power-assisted steering apparatus initiatively return the return performance that positive control improves vehicle.Electric power-assisted steering apparatus can be divided into two classes, and a class is not have the electric power-assisted steering apparatus that initiatively returns positive control, is subjected to the restriction of vehicle aligning force size, is of limited application; Another kind of is to have the electric power-assisted steering apparatus that initiatively returns positive control, comprises a steering angle sensing device, steering angle that can the perception vehicle, and control vehicle initiatively just returns.Yet existing steering angle sensing device is a kind of slewing arrangement, is divided into position model and increment type.Position model angle sensor device or be subjected to 360 ° of restrictions, otherwise structure is too complicated, and cost is higher; Increment type angle sensor apparatus structure is simple, is not subjected to 360 ° of restrictions, but needs the storage initial value in order to calculate current angle information, once lose initial value, will produce wrong angle information.
Summary of the invention
The purpose of this utility model is to provide a kind of and can judges whether vehicle is in meta, accurately carry out power-assisted in good time and judge, and the steering effort that forms affacted pivoted wheels on vehicle, thereby form a kind of electric power-assisted steering apparatus that turns to of vehicle with meta identification.
It comprises a mechanical assembly 2, an electrical controller 1, and electrical controller 1 is connected with mechanical assembly 2 by electric wire 3;
Machinery assembly 2 comprises a worm and gear casing body 4, worm and gear assembly 5, servomotor 7, miniature gears tooth bar assembly 8, torque sensing device 6, middle sensing equipment 9, two intermediate rods 12,13; The housing bolted connection of worm and gear casing body 4 and miniature gears tooth bar assembly 8, in worm and gear casing body 4, the pinion shaft of miniature gears tooth bar assembly 8 and the worm gear of worm and gear assembly 5 are interior emptyly captives joint; The pinion shaft of this miniature gears tooth bar assembly 8 is captiveed joint with the torsion bar of torque sensing device 6; Torque sensing device 6 links to each other with described worm and gear casing body 4; Servomotor 7 is fixed on the worm and gear casing body 4 and links to each other with the worm screw of worm and gear assembly 5; Two intermediate rods 12,13 are separately fixed at the tooth bar two ends of miniature gears tooth bar assembly 8; Middle sensing equipment 9 is installed in the tooth bar sleeve pipe 10 of miniature gears tooth bar assembly 8.
Electric power-assisted steering apparatus of the present utility model, 1 pair of servomotor of electrical controller 7 carries out the power-assisted judgement during work, electrical controller 1 is according to the target current value of the torque signal and the vehicle speed signal control servomotor 7 of 6 perception of torque sensing device, comprise size of current and direction of current, the moment of torsion that motor produces is delivered to intermediate rod 12,13, intermediate rod 12 by worm and gear assembly 5 and miniature gears tooth bar assembly 8,13 affact pivoted wheels on vehicle with steering effort, thereby form turning to of vehicle.
Have the meta determination methods of the electric power-assisted steering apparatus of meta identification, it comprises following flow process:
Flow process S0, it is a beginning flow process, and finish initialization: the voltage amplitude when being in meta is Vo, and the maxim that limits during the measuring voltage amplitude is Vmax, and the value of Vo is Vmax half; Set meta position right-hand member value a, meta position left end value b, meta position far-end value c parameter; Therefore, the upper limit predetermined value in meta interval is that the lower limit predetermined value in (Vo+a), meta interval is that the threshold value of (Vo-b), meta position far-end is (Vo+c);
Flow process S1 on the basis of described flow process S0, judges that whether difference mode signal is less than the interval upper limit predetermined value (Vo+a) of meta, if the result then carries out flow process S2 for being, if the result then carries out flow process S5 for not;
Flow process S2 on the basis of described flow process S1, judges that whether difference mode signal is greater than the interval lower limit predetermined value (Vo-b) of meta, if the result then carries out flow process S3 for being, if the result then carries out flow process S7 for not;
Flow process S3 on the basis of described flow process S2, judges that whether 2 output signals are less than meta position far-end threshold value (Vo+c);
Flow process S4 on the basis of described flow process S3, exports the signal of an expression " meta is for being ", carries out flow process S10 then;
Flow process S5, on the basis of described flow process S1, the signal of " meta is for being " whether before detecting is if the result for being, then carries out the S6 flow process, if for denying, then carry out flow process S10;
Flow process S6 on the basis of described flow process S5, exports the signal of an expression " direction is right " and the signal of an expression " meta is for denying ", carries out flow process S10 then;
Whether flow process S7 is on the basis of described flow process S2, before detecting " direction be right ", if for being, then carry out flow process S8, if the result denys then to carry out flow process S10;
Flow process S8 on the basis of described flow process S7, exports the signal of an expression " direction is a left side " and the signal of an expression " meta is for denying ", carries out flow process S10 then;
Flow process S9 exports the signal of an expression " meta is for denying ", carries out flow process S10 then;
Flow process S10 jumps to S1, forms circulation process.
Have the steering angle method of calculating of the electric power-assisted steering apparatus of meta identification, it may further comprise the steps:
The first step, initialization, the average terminal voltage Ud of input motor, the counter electromotive force E of motor, armature resistance R, the armature electric current I d of motor, the inductance L of motor, the back electromotive force constant Ke of motor, the angular velocity omega of motor;
Second goes on foot, and calculates the rotational angle theta m of motor in accordance with the following methods,
Because Ke and R are constants, and Ud, Id can obtain by detection, so just can calculate θ m;
The 3rd step and since the steering angle θ v of vehicle and motor rotational angle theta m be a kind of as shown in the formula proportionate relationship:
θv＝K1·K2·θm，
K1 is the angular gear ratio of worm and gear assembly 5 in the formula,
K2 is a miniature gears tooth bar and to the angular gear ratio of steered wheel, therefore, can represent the Vehicular turn angle information with the rotational angle theta m of motor, that is:
T is the sampling time interval of detecting device in the formula, and Ud (k) is the sampled value of the k time Ud, and Id (k) is the sampled value of the k time Id.
One of purposes with electric power-assisted steering apparatus of meta identification is the meta signal that utilizes this device to provide, and implements the active of power actuated vehicle and just returns.
It not only can realize electric power steering, and can judge whether vehicle is in meta, accurately carry out power-assisted in good time and judge, and the steering effort that forms is affacted pivoted wheels on vehicle.It is simple in structure, cost is low, be not subjected to 360 ° of restrictions, do not need initial value to calculate.
Description of drawings
Fig. 1 is that electric power-assisted steering apparatus of the present utility model is formed schematic block diagram.
Fig. 2 is the mechanical assembly cutaway view of electric power-assisted steering apparatus of the present utility model.
Fig. 3 is the mechanical device figure of the middle sensing equipment of electric power-assisted steering apparatus of the present utility model.
Fig. 4 is that the middle sensing equipment of electric power-assisted steering apparatus of the present utility model is formed schematic block diagram.
Fig. 5 is the delivery curve of an embodiment of the middle sensing equipment of electric power-assisted steering apparatus of the present utility model.
Fig. 6 is the middle sensing equipment workflow of electric power-assisted steering apparatus of the present utility model.
The specific embodiment
As Fig. 1, electric power-assisted steering apparatus of the present utility model belongs to and has the electric power-assisted steering apparatus that initiatively returns positive control, and it comprises a mechanical assembly 2, an electrical controller 1, and electrical controller 1 is connected with mechanical assembly 2 by electric wire 3;
Machinery assembly 2 comprises a worm and gear casing body 4, worm and gear assembly 5, servomotor 7, miniature gears tooth bar assembly 8, torque sensing device 6, middle sensing equipment 9, two intermediate rods 12,13; The housing bolted connection of worm and gear casing body 4 and miniature gears tooth bar assembly 8, in worm and gear casing body 4, the pinion shaft of miniature gears tooth bar assembly 8 is captiveed joint to cross the mode of overflowing with the interior sky of the worm gear of worm and gear assembly 5; The pinion shaft of this miniature gears tooth bar assembly 8 is captiveed joint with the torsion bar of torque sensing device 6 in riveting dress mode; Torque sensing device 6 passes through bolted connection with described worm and gear casing body 4; Servomotor 7 is fixed on the worm and gear casing body 4 and links to each other with the worm screw of worm and gear assembly 5; Two intermediate rods 12,13 are separately fixed at the tooth bar two ends of miniature gears tooth bar assembly 8; Middle sensing equipment 9 is installed in the tooth bar sleeve pipe 10 of miniature gears tooth bar assembly 8.
1 pair of servomotor of electrical controller 7 carries out the power-assisted judgement during work, electrical controller 1 is according to the target current value of the torque signal and the vehicle speed signal control servomotor 7 of 6 perception of torque sensing device, comprise size of current and direction of current, the moment of torsion that motor produces is delivered to intermediate rod 12 by worm and gear assembly 5 and miniature gears tooth bar assembly 8,13, intermediate rod 12,13 affacts pivoted wheels on vehicle with steering effort, thereby forms turning to of vehicle.
Electric power-assisted steering apparatus of the present utility model is a kind of electric power-assisted steering apparatus with meta identification, comprise a middle sensing equipment 9 with meta identification, can judge whether vehicle is in the meta (direction of promptly keeping straight on, steering angle is about 0), when judging that vehicle is not in meta, can judge that vehicle is left steering or right steering simultaneously.Further, can estimate the size of steering angle by computing.In sensing equipment 9 are angle sensor devices of a kind of switching regulator, simple in structure, cost is low, be not subjected to 360 ° of restrictions, do not need initial value to calculate.
The principle that sensing equipment 9 meta signals produce in describing in detail below.
Middle sensing equipment 9 comprises a mechanical device 14 and a signal transmitting device 15.As Fig. 2, it is the embodiment of the mechanical device 14 of middle sensing equipment 9, comprises 17,1 resistance of 18,19,1 bobbin frame of 2 coils magnet ring 16.2 coils 18,19 are installed on the bobbin frame 17, and resistance magnet ring 16 is fixed on the tooth bar 11, and the bobbin frame 17 of belt coil is fixed in the tooth bar sleeve pipe 10.The fixed position of the bobbin frame 17 of belt coil and resistance magnet ring 16 is to determine like this, when vehicle is in craspedodrome, makes resistance magnet ring 16 be positioned at the center of 2 coils 18,19; And be in when turning to when vehicle, make resistance magnet ring 16 in the whole strokes that move with tooth bar 11, can not be restricted.The pig-tail wire of 2 coils 18,19 is drawn by 10 perforation of tooth bar sleeve pipe, is connected with signal transmitting device 15; Signal transmitting device 15 is connected with electrical controller 1 by electric wire.
As Fig. 3, signal transmitting device 15 comprises 1 coil stimulating device, 22,1 signal decision devices 23 of 21,1 signal regulating devices of 20,1 signal detection device and 1 supply unit 24.
Middle sensing equipment 9 is work like this: the coil stimulating device 20 in the signal transmitting device 15 is applied to 2 coils 18 with the impulse singla of fixed frequency, 19, thereby exciting coil, the synchronous signal change send the detection device 21 in the device 15 to detect 2 coils 18,2 response signals of 19, through signal regulating device 22, produce 3 output signals, these 3 output signals comprise and 2 cooresponding 2 output signals of response signal, and the differential mode output signal that is formed by the differential mode of 2 output signals.When Vehicular turn, the tooth bar 11 in the mechanical assembly 2 will be from moving to another side on one side, at this moment, be fixed on resistance magnet ring 16 on the tooth bar 11 also along with from moving to another side on one side, and like this, the voltage amplitude of 3 output signals just forms 3 curves.Signal decision device 23 is made the court verdict whether vehicle is in meta according to 3 output signals.Signal decision device 23 is measured the voltage amplitude of 3 output signals respectively, and signal decision device 23 is judged the position of tooth bar 11 according to the result of a measurement of 3 output signals.When vehicle was kept straight on, the position of tooth bar 11 was defined as " meta ".During signal decision device 23 measuring voltage amplitudes a limited field will be arranged, the minimum value of limited field is 0, and maxim is Vmax.If the voltage amplitude of output signal exceeds this limited field, it is minimum value (0V) or maxim 5V that the result of a measurement of signal decision device 23 will exceed section processes.
As Fig. 4, be 3 curves of 3 output signals of an embodiment.Among Fig. 4, abscissa is represented the miles of relative movement of tooth bar 11, the meta of the O point expression tooth bar 11 of abscissa; Ordinate is represented the voltage amplitude of 3 output signals, the voltage amplitude (Vo) when the O point expression tooth bar 11 of ordinate is in meta; The P point expression curve 26 of abscissa passes the position of abscissa hour rack 11 once more, and this position is away from meta.Usually, for the ease of computing, the voltage amplitude that signal regulating device 22 is ordered O is transferred to half of maxim (Vmax).In force, for fear of the shake of output signal, and external disturbance, and cause and the court verdict frequent variations of signal decision device 23 left side of meta and the judgement more among a small circle on the right are to be meta feasible, and to have higher precision.As Fig. 4, this represents that with A, the B point of abscissa the correspondent voltage range value is arranged more among a small circle in curve 26, is respectively (Vo+a) and (Vo-b).Signal decision device 23 is judged whether curve 26 satisfies and is decided this more among a small circle less than (Vo+a) and greater than (Vo-b).Yet signal decision device 23 must be got rid of the P point, because the P point is away from meta.Signal decision device 23 judges that curve 27,28 is denied to satisfy to get rid of the P point less than (Vo+c) or greater than (Vo-c), because the voltage amplitude value of the cooresponding curve 27,28 of P point is away from Vo.C value selected clearly distinguishing P point and the O point is a principle, and feasible (Vo+c) less than Vmax with (Vo-c) greater than 0.
Wherein, Vo: the voltage amplitude when expression tooth bar 11 is in meta, voltage amplitude is transferred to half of maxim Vmax, be 2.5V, the maxim 5V that Vmax limits when being signal decision device 23 measuring voltage amplitudes, usually, voltage amplitude maxim Vmax is 5V, a: meta position right-hand member value, b: meta position left end value, c: meta position far-end value.Curve 26 is the difference mode signal curve, and curve 27,28 is respectively two response signal graph.
As Fig. 5, express the decision method and the workflow of signal decision device 23.
Have the meta determination methods of the electric power-assisted steering apparatus of meta identification, it comprises following flow process:
Flow process S0, it is a beginning flow process, and finish initialization: the voltage amplitude Vo when tooth bar 11 is in meta is 2.5V, and the maxim that limits during signal decision device 23 measuring voltage amplitudes is 5V; Signal decision device 23 to the signal transmitting device 15 of sensing equipment 9 in described is set meta position right-hand member value a, meta position left end value b, meta position far-end value c parameter; Therefore, the upper limit predetermined value in meta interval is that the lower limit predetermined value in (2.5V+a), meta interval is that the threshold value of (2.5V-b), meta position far-end is (2.5V+c);
Flow process S1 on the basis of described flow process S0, judges that whether difference mode signal is less than the interval upper limit predetermined value (2.5V+a) of meta, if the result then carries out flow process S2 for being, if the result then carries out flow process S5 for not;
Flow process S2 on the basis of described flow process S1, judges that whether difference mode signal is greater than the interval lower limit predetermined value (2.5V-b) of meta, if the result then carries out flow process S3 for being, if the result then carries out flow process S7 for not;
Flow process S3 on the basis of described flow process S2, judges that whether 2 output signals are less than meta position far-end threshold value (2.5V+c);
Flow process S4 on the basis of described flow process S3, exports the signal of an expression " meta is for being ", carries out flow process S10 then;
Flow process S5, on the basis of described flow process S1, the signal of " meta is for being " whether before detecting is if the result for being, then carries out the S6 flow process, if for denying, then carry out flow process S10;
Flow process S6 on the basis of described flow process S5, exports the signal of an expression " direction is right " and the signal of an expression " meta is for denying ", carries out flow process S10 then;
Whether flow process S7 is on the basis of described flow process S2, before detecting " direction be right ", if for being, then carry out flow process S8, if the result denys then to carry out flow process S10;
Flow process S8 on the basis of described flow process S7, exports the signal of an expression " direction is a left side " and the signal of an expression " meta is for denying ", carries out flow process S10 then;
Flow process S9 exports the signal of an expression " meta is for denying ", carries out flow process S10 then;
Flow process S10 jumps to S1, forms circulation process.
Yet,, also it can be moved on in the electrical controller 1 for the signal decision device 23 in the signal transmitting device 15.
One of purposes with electric power-assisted steering apparatus of meta identification is the meta signal that utilizes this device to provide, and implements the active of power actuated vehicle and just returns.
Claims (6)
1, a kind of electric power-assisted steering apparatus with meta identification, it comprises mechanical assembly (2), electrical controller (1), it is characterized in that described mechanical assembly (2) comprises worm and gear casing body (4), worm and gear assembly (5), servomotor (7), miniature gears tooth bar assembly (8), torque sensing device (6), middle sensing equipment (9), two intermediate rods (12,13), the torque signal of described torque sensing device (6) perception and the target current value that comprises size of current and direction of current of vehicle speed signal control servomotor (7) input to electrical controller (1), this electrical controller (1) carries out power-assisted to servomotor (7) and judges, the moment of torsion that motor produces is delivered to intermediate rod (12 by worm and gear assembly (5) and miniature gears tooth bar assembly (8), 13), intermediate rod (12,13) steering effort is affacted pivoted wheels on vehicle, thereby form turning to of vehicle.
2, a kind of electric power-assisted steering apparatus as claimed in claim 1 with meta identification, the housing bolted connection that it is characterized in that described worm and gear casing body (4) and miniature gears tooth bar assembly (8), in worm and gear casing body (4), emptyly in the worm gear of the pinion shaft of miniature gears tooth bar assembly (8) and worm and gear assembly (5) captive joint; The pinion shaft of this miniature gears tooth bar assembly (8) is captiveed joint with the torsion bar of torque sensing device (6); Torque sensing device (6) is connected with described worm and gear casing body (4); Servomotor (7) is fixed on worm and gear casing body (4) and upward links to each other with the worm screw of worm and gear assembly (5); Two intermediate rods (12,13) are separately fixed at the tooth bar two ends of miniature gears tooth bar assembly (8); Middle sensing equipment (9) is installed in the tooth bar sleeve pipe (10) of miniature gears tooth bar assembly (8);
3, a kind of electric power-assisted steering apparatus with meta identification as claimed in claim 1 is characterized in that described middle sensing equipment (9) comprises a mechanical device (14) and a signal transmitting device (15).
4, a kind of electric power-assisted steering apparatus as claimed in claim 3 with meta identification, it is characterized in that described mechanical device (14) comprises two coils (18,19), bobbin frame (17), resistance magnet ring (16), coil (18,19) be installed on the bobbin frame (17), resistance magnet ring (16) is fixed on the tooth bar (11), and the bobbin frame (17) of belt coil is fixed in the tooth bar sleeve pipe (10); When vehicle was in craspedodrome, resistance magnet ring (16) was positioned at the center of coil (18,19); When vehicle is in when turning to, resistance magnet ring (16) all moves in the strokes with tooth bar (11) with not being restricted, and the pig-tail wire of coil (18,19) is drawn by tooth bar sleeve pipe (10) perforation, is connected with signal transmitting device (15); Signal transmitting device (15) is connected with electrical controller (1) by electric wire.
5, a kind of electric power-assisted steering apparatus as claimed in claim 3 with meta identification, it is characterized in that described signal transmitting device (15) comprises coil stimulating device (20), signal detection device (21), signal regulating device (22), signal decision device (23) and supply unit (24).
6, a kind of electric power-assisted steering apparatus with meta identification as claimed in claim 4 is characterized in that described resistance magnet ring (16) is a magnetic guiding loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200646902U CN201158407Y (en) | 2007-10-12 | 2007-10-12 | Electric power-assisted steering apparatus with medium recognition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200646902U CN201158407Y (en) | 2007-10-12 | 2007-10-12 | Electric power-assisted steering apparatus with medium recognition |
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| Publication Number | Publication Date |
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| CN201158407Y true CN201158407Y (en) | 2008-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200646902U Expired - Lifetime CN201158407Y (en) | 2007-10-12 | 2007-10-12 | Electric power-assisted steering apparatus with medium recognition |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102023027A (en) * | 2009-09-01 | 2011-04-20 | 株式会社万都 | Apparatus and method for sensing rotor position and electric power steering system using the same |
| CN110171469A (en) * | 2019-05-30 | 2019-08-27 | 上海高爱特汽车电子股份有限公司 | A kind of connector assembly and electric booster steering controller |
-
2007
- 2007-10-12 CN CNU2007200646902U patent/CN201158407Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102023027A (en) * | 2009-09-01 | 2011-04-20 | 株式会社万都 | Apparatus and method for sensing rotor position and electric power steering system using the same |
| CN102023027B (en) * | 2009-09-01 | 2012-11-21 | 株式会社万都 | Apparatus and method for sensing rotor position and electric power steering system using the same |
| CN110171469A (en) * | 2019-05-30 | 2019-08-27 | 上海高爱特汽车电子股份有限公司 | A kind of connector assembly and electric booster steering controller |
| CN110171469B (en) * | 2019-05-30 | 2022-02-22 | 上海高爱特汽车电子股份有限公司 | Connector assembly and electric power steering controller |
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