CN203111409U

CN203111409U - Electric power-assistant steering control system used for electric bicycle

Info

Publication number: CN203111409U
Application number: CN 201320081912
Authority: CN
Inventors: 朱绍鹏; 俞小莉; 邱斌斌; 吴志军; 刘孝龙
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2013-02-22
Filing date: 2013-02-22
Publication date: 2013-08-07
Anticipated expiration: 2023-02-22

Abstract

The utility model discloses an electric power-assistant steering control system used for an electric bicycle. A steering handle, a steering input shaft and a torque sensor are sequentially connected. A power-assistant motor, an electromagnetic clutch, a reducing mechanism, a steering output shaft, a steering wheel and a speed sensor are sequentially connected. An electronic control device comprises a power-assistant characteristic controller and a current controller which are connected, wherein the control device receives signals of the torque sensor and signals of the speed sensor, and an electric power-assistant steering function is carried out by means of control for the power-assistant motor and the electromagnetic clutch. The system can carry out forward power-assistant control when the electric bicycle runs at a low speed, can carry out reverse power-assistant control when the electric bicycle runs at medium and high speeds, and improves steering operation stability and running safety according to operation conditions of the electric bicycle. In particular, sideward-skidding or sideward-turning phenomena of the electric bicycle caused by over-large steering torque exerted by a rider or exceedingly rush steering and the like can be prevented, and running safety is improved.

Description

A kind of electric power steering control system for Electrical Bicycle

Technical field

The utility model belongs to the Electrical Bicycle control system, particularly relates to a kind of electric power steering control system for Electrical Bicycle.

Background technology

Electrical Bicycle is as a kind of new transportation vehicles, obtained development rapidly with Zero-discharge non-pollution, low noise, low energy consumption, advantage such as convenient and swift, and recoverable amount rises year by year, but also soaring significantly by the traffic accident of its initiation.Trace it to its cause, except mal-practice such as drive over the speed limit, road occupying is travelled, also have the defective that exists on some self structure performances.At Electrical Bicycle because the structural instability that contacts to earth of two-wheeled and turn to light its this shortcoming of riding stability difference that causes, use for reference the control of vehicle electronics servo-steering, realize being fit to the EPS of Electrical Bicycle, can improve its handling maneuver stability and driving safety, reduce traffic accident.

Summary of the invention

The purpose of this utility model is at the deficiency of existing Electrical Bicycle control system, and a kind of electric power steering control system for Electrical Bicycle is provided.

The electric power steering control system that is used for Electrical Bicycle comprises and turns to handgrip, turns to input shaft, torque sensor, speed reduction gearing, turns to output shaft, wheel flutter, car speed sensor, electronic control package, assist motor and magnetic clutch; Turn to handgrip, turn to input shaft to link to each other in turn with torque sensor, assist motor, magnetic clutch, speed reduction gearing, turn to output shaft, wheel flutter to link to each other in turn with car speed sensor; Described electronic control package comprises assist characteristic controller and the current controller that is connected, and control setup receives torque sensor and car speed sensor signal, implements electrical power-assisted steering function by control assist motor and magnetic clutch.

The utility model is to be reference with the automobile electric booster steering system, at the designed servo steering system that specializes of Electrical Bicycle, unassembled this system also on the existing Electrical Bicycle, with respect to the conventional electric bicycle, car speed sensor, torque sensor, assist motor, electronic control package, magnetic clutch, speed reduction gearing etc. have been increased.Electrical Bicycle determines hand of rotation and the size of current of assist motor, thereby finishes real-time control servo-steering according to the detection signal of car speed sensor and torque sensor.Propose novel Electrical Bicycle power assist control method, chosen different assist characteristics according to turn to torque and torque rate of change that the speed of a motor vehicle, chaufeur apply, carried out the control of forward power-assisted during low speed driving, carried out reverse power-assisted control when high speed is travelled.Particularly when the Electrical Bicycle high speed is travelled, open reverse power-assisted control according to turn to torque threshold values and the torque rate of change threshold values set, can prevent since chaufeur apply turn to torque excessive or turn to sideslip or the rollover of the Electrical Bicycle that causes such as too urgent, improve driving safety.

Description of drawings

Fig. 1 is the electric power steering control system structure front schematic view for Electrical Bicycle;

Fig. 2 is the electric power steering control system texture edge scheme drawing for Electrical Bicycle;

Fig. 3 is control principle figure of the present utility model;

Fig. 4 is assist characteristic diagram of curves of the present utility model;

Among the figure: turn to handgrip 1, turn to input shaft 2, torque sensor 3, speed reduction gearing 4, turn to that output shaft 5, wheel flutter 6, chaufeur apply turn to dtc signal 7, car speed sensor 8, vehicle speed signal 9, electronic control package 10, current controling signal 11, motor feedback current 12, assist motor 13, magnetic clutch 14, magnetic clutch control signal 15, assist characteristic controller 16, target current 17, current controller 18, power torque 19.

The specific embodiment

Below in conjunction with accompanying drawing embodiment of the present utility model is elaborated, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.

With reference to figure 1 and Fig. 2, the electric power steering control system that is used for Electrical Bicycle comprises and turns to handgrip 1, turns to input shaft 2, torque sensor 3, speed reduction gearing 4, turns to output shaft 5, wheel flutter 6, car speed sensor 8, electronic control package 10, assist motor 13 and magnetic clutch 14; Turn to handgrip 1, turn to input shaft 2 to link to each other in turn with torque sensor 3, assist motor 13, magnetic clutch 14, speed reduction gearing 4, turn to output shaft 5, wheel flutter 6 to link to each other in turn with car speed sensor 8; Described electronic control package 10 comprises assist characteristic controller 16 and the current controller 18 that is connected, and control setup 10 receives torque sensor 3 and car speed sensor 8 signals, implements electrical power-assisted steering function by control assist motor 13 and magnetic clutch 14.

With reference to figure 3 and Fig. 4, the electric power-assisted steering control method that is used for Electrical Bicycle is to be input to electronic control package 10 by the dtc signal 7 that turns to that car speed sensor 8 detected vehicle speed signal 9 and torque sensor 3 detected chaufeurs apply, carry out forward power-assisted and oppositely power-assisted control according to the assist characteristic controller 16 in the electronic control package 10, produce assist motor target current 17, assist motor target current 17 is handled back control assist motor 13 with the deviate of motor feedback current 12 by current controller 18 and is produced power torque 19;

In actual vehicle speed VBe not more than the demarcation speed of a motor vehicle V ₃The time, implement the forward power-assisted, assist characteristic controller 16 turns to torque according to what chaufeur applied TAnd actual vehicle speed V, determine the assist motor target current ISize; Current controller 18 is according to this target current IWith the size of the power torque of the deviate of motor feedback current control assist motor output, the shaped form power-assisted is adopted in the increase that turns to torque that power torque applies along with chaufeur and increasing; In addition, actual vehicle speed is more big, and the forward power-assisted is more little; Forward assist characteristic curve only indicates three and demarcates the speed of a motor vehicle V ₁, V ₂, V ₃, when actual vehicle speed is two demarcation speed of a motor vehicle intermediate values, gets and demarcate the big less assist characteristic curve of forward power-assisted of the speed of a motor vehicle, when actual vehicle speed is the demarcation speed of a motor vehicle V ₁, V ₂During intermediate value, adopt and demarcate the speed of a motor vehicle V ₂Corresponding assist characteristic curve;

Reach the demarcation speed of a motor vehicle in actual vehicle speed V ₄The time, turn to torque rate of change △ when what chaufeur applied TGreater than threshold values △ T ₄, and chaufeur apply turn to torque TSurpass threshold values T _bThe time, open reverse power-assisted; Actual vehicle speed, chaufeur apply turns to torque and three conditions of rate of change thereof, and wherein any one condition does not satisfy and can not open reverse power-assisted; The setpoint torque threshold values T _bPurpose be that chaufeur applies and is lower than torque when actual vehicle speed is low T _bSmall size quick steering can't cause the Electrical Bicycle shakiness of travelling, do not start reverse power-assisted under this operating mode; The torque threshold values that the reverse power-assisted of each actual vehicle speed correspondence starts is different with the torque rate of change threshold values, and torque threshold values and torque rate of change threshold values all increase along with actual vehicle speed and diminish, and reach the demarcation speed of a motor vehicle V ₆After, the torque threshold values becomes 0; When actual vehicle speed is two demarcation speed of a motor vehicle intermediate values, gets and demarcate the big oppositely bigger assist characteristic curve of power-assisted of the speed of a motor vehicle, when actual vehicle speed is to demarcate the speed of a motor vehicle V ₄, V ₅During intermediate value, adopt and demarcate the speed of a motor vehicle V ₅Corresponding assist characteristic curve.

Electronic control package also sends the magnetic clutch control signal to magnetic clutch, with the break-make that realizes that auxiliary power transmits.The power torque that described assist motor produces through speed reduction gearing slow down increase turn round after, realize the stack that turns to torque that applies with chaufeur in output, control wheel flutter jointly and turn to.

The above is preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.

Claims

1. electric power steering control system that is used for Electrical Bicycle is characterized in that comprising turning to handgrip (1), turning to input shaft (2), torque sensor (3), speed reduction gearing (4), turn to output shaft (5), wheel flutter (6), car speed sensor (8), electronic control package (10), assist motor (13) and magnetic clutch (14); Turn to handgrip (1), turn to input shaft (2) to link to each other in turn with torque sensor (3), assist motor (13), magnetic clutch (14), speed reduction gearing (4), turn to output shaft (5), wheel flutter (6) to link to each other in turn with car speed sensor (8); Described electronic control package (10) comprises assist characteristic controller (16) and the current controller (18) that is connected, control setup (10) receives torque sensor (3) and car speed sensor (8) signal, implements electrical power-assisted steering function by control assist motor (13) and magnetic clutch (14).