CN203805987U - Power-assisted steering system of electric truck - Google Patents
Power-assisted steering system of electric truck Download PDFInfo
- Publication number
- CN203805987U CN203805987U CN201420244892.5U CN201420244892U CN203805987U CN 203805987 U CN203805987 U CN 203805987U CN 201420244892 U CN201420244892 U CN 201420244892U CN 203805987 U CN203805987 U CN 203805987U
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- steering
- module
- power
- wheel flutter
- boost system
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Abstract
The utility model provides a power-assisted steering system of an electric truck. The power-assisted steering system comprises a steering wheel fixing seat, a steering wheel, a traction motor, a steering axle, a handle seat, a steering wheel drive shaft, a power-assisted steering motor and a power-assisted steering system controller. The steering wheel is arranged on the steering wheel fixing seat. The traction motor is arranged on the steering wheel fixing seat and drives the steering wheel to rotate. The steering axle and the handle seat are arranged on the steering wheel fixing seat. The steering wheel drive shaft is arranged on the handle seat. The power-assisted steering motor is arranged on the steering wheel fixing seat and matched with the steering axle so as to drive the steering wheel to rotate. The power-assisted steering system controller is connected to the power-assisted steering motor. A steering wheel angle sensor is arranged on the handle seat and connected with the power-assisted steering system controller. A steering wheel angle sensor is arranged on the steering wheel fixing seat and connected with power-assisted steering system controller. The power-assisted steering system is simple in structure, reliable in running, and capable of effectively solving problems that starting time is long and the angle sensor is susceptible to interference of the conventional power-assisted steering system,.
Description
Technical field
The utility model relates to electrocar field, is specifically related to electrocar steering boost system.
Background technology
It is long that the steering boost system that in prior art, large ton is measured electrocar exists run up time, the problem that angular transducer is easily disturbed, representational steering boost system is as Chinese patent CN10734280A, for the electronically controlled steering device for transport trolley, by handle, steering shaft, steering wheel, direction wheel shaft, DC machine, steering boost system controller, gear case, the first transmission device, the second transmission device, form with three sensors, its technical scheme is to adopt magnetic rotary encoder, magnet steel is as angular transducer, inductance type NPN or positive-negative-positive approach switch are arranged on transport trolley body, iron block is installed on follower, wheel flutter rotation during start, until detecting iron block, approach switch determines wheel flutter initial position, its weak point is: 1, during each startup, all need to experience tediously long process of self-test, to determine the initial position of wheel flutter, 2,, in process of self-test, the change of team certainly of wheel flutter causes vehicle body double swerve, even causes vehicle to occur displacement, 3, angular transducer used is subject to the magnetic interference of motor or drg and causes measured error.
Summary of the invention
Technical problem to be solved in the utility model is to provide simple in structure, the more failure-free electrocar steering boost system of working, can solve the problem that run up time is long, angular transducer is easily disturbed that existing steering boost system exists effectively.
For solving above-mentioned existing technical matters, the utility model adopts following scheme: electrocar steering boost system, comprise wheel flutter permanent seat, be located at the wheel flutter on wheel flutter permanent seat, be located at the traction electric machine that drives wheel flutter to rotate on wheel flutter permanent seat, be located at the steeraxle on wheel flutter permanent seat, be located at the handle set on wheel flutter permanent seat, be located at the bearing circle transmission shaft on handle set, thereby be located at the power steering motor that coordinates drive wheel flutter to turn to steeraxle on wheel flutter permanent seat, be connected to the steering boost system controller on power steering motor, described handle set is provided with the steering wheel angle sensor being connected with steering boost system controller, described wheel flutter permanent seat is provided with the wheel flutter angular transducer being connected with steering boost system controller.
As preferably, described steering wheel angle sensor comprises the first circuit board module being connected with steering boost system controller that is located on handle set, is located at the first bonding jumper on bearing circle transmission shaft, described first circuit board module is connected to form by inductive sensing chip and the coil corresponding with the first bonding jumper, described the first bonding jumper adopts arc structure, be fixed on described bearing circle transmission shaft, and the width of described the first bonding jumper or thickness increase gradually or reduce; Described wheel flutter angular transducer comprises the second circuit plate module being connected with steering boost system controller that is located on wheel flutter permanent seat, is located at the second bonding jumper on steeraxle, described second circuit plate module is connected to form by inductive sensing chip and the coil corresponding with the second bonding jumper, described the second bonding jumper adopts arc structure, be fixed on described steeraxle, and the width of described the second bonding jumper or thickness increase gradually or reduce.Effectively avoid the impact of external magnetic field on sensor, do not need zero position calibrating sensors, result of a measurement is the relative angle value of bearing circle and wheel flutter, adopts Non-contact Angle Measurement, has effectively avoided wearing and tearing, simple in structure, precise and stable, economical and practical.
As preferably, the rotor of described power steering motor is provided with miniature gears, and described steeraxle is provided with big gear wheel, described miniature gears and big gear wheel engaged transmission.Transmission is stable, and driving efficiency is high.
As preferably, the material of described the first bonding jumper, the second bonding jumper and coil is consistent or temperature coefficient of resistance is consistent.Effectively weaken the impact of temperature on result of a measurement, improved survey precision.
As preferably, described steering boost system controller comprise power module, the micro controller system signal processing module being connected with steering wheel angle sensor and wheel flutter angular transducer, with the motor drive module that power steering motor is connected, described power module, motor drive module are all connected with micro controller system signal processing module.
As preferably, described steering boost system controller also comprises the detection module being connected with power steering motor, described detection module is connected on micro controller system signal processing module, and described detection module adopts temperature detecting module or current detection module or both all to use.
As preferably, described power module adopts multipath isolated power, and each MOSFET adopts independent current source to drive, and signal is all isolated transmission by the mode of electromagnetic coupled.
As preferably, described motor drive module adopts H bridge circuit to realize, and sequentially realizes forward, reversion or anxious the stopping of power steering motor by controlling the conducting of 4 road MOSFET in H bridge.
As preferably; when described detection module adopts temperature detecting module, temperature sensor adopts thermally dependent resistor; when described detection module adopts current detection module, current sensor adopts Hall-type linear current sensing IC; when electric current or temperature surpass limit value, by adjusting the horsepower output of power steering motor, realize overcurrent, overheat protector.
Beneficial effect:
The utility model adopts technique scheme that electrocar steering boost system is provided, simple in structure, work more reliable, compared with prior art, there is following advantage: 1, startup self-detection optimization: after having saved conventional steering force aid system starting up, must experience tediously long self check to determine the process of the initial position of wheel flutter, avoided rocking due to the vehicle body that process of self-test causes, even occurred the generation of displacement situation; 2, Novel angle sensor mode: effectively avoid the impact of external magnetic field on sensor, also can effectively weaken the measured error that temperature traverse causes, adopt Non-contact Angle Measurement, the wearing and tearing between device and bearing circle have effectively been avoided, have simple in structure, precise and stable, economical and practical advantage.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of steering wheel angle sensor in the utility model;
Fig. 3 is the structural representation of wheel flutter angular transducer in the utility model;
Fig. 4 is the structural representation of steering boost system controller in the utility model.
In figure: 1-steering wheel angle sensor, 2-power steering motor, 3-steering boost system controller, 4-steeraxle, 5-wheel flutter angular transducer, 6-bearing circle transmission shaft, 7-traction electric machine, 8-wheel flutter, 9-first circuit board module, 10-the first bonding jumper, 11-handle set, 12-the second bonding jumper, 13-second circuit plate module, 14-big gear wheel, 15-miniature gears, 16-wheel flutter permanent seat, 31-power module, 32-micro controller system signal processing module, 33-motor drive module, 34-detection module.
The specific embodiment
As shown in Figures 1 to 4, electrocar steering boost system, comprise wheel flutter permanent seat 16, be located at the wheel flutter 8 on wheel flutter permanent seat 16, be located at the traction electric machine 7 that drives wheel flutter 8 to rotate on wheel flutter permanent seat 16, be located at the steeraxle 4 on wheel flutter permanent seat 16, be located at the handle set 11 on wheel flutter permanent seat 16, be located at the bearing circle transmission shaft 6 on handle set 11, thereby be located at the power steering motor 2 that coordinates drive wheel flutter 8 to turn to steeraxle 4 on wheel flutter permanent seat 16, be connected to the steering boost system controller 3 on power steering motor 2, described handle set 11 is provided with the steering wheel angle sensor 1 being connected with steering boost system controller 3, described wheel flutter permanent seat 16 is provided with the wheel flutter angular transducer 5 being connected with steering boost system controller 3.Described steering wheel angle sensor 1 comprises the first circuit board module 9 being connected with steering boost system controller 3 that is located on handle set 11, is located at the first bonding jumper 10 on bearing circle transmission shaft 6, described first circuit board module 9 is connected to form by inductive sensing chip and the coil corresponding with the first bonding jumper 10, described the first bonding jumper 10 adopts arc structure, be fixed on described bearing circle transmission shaft 6, and the width of described the first bonding jumper 10 or thickness increase gradually or reduce; Described wheel flutter angular transducer 5 comprises the second circuit plate module 13 being connected with steering boost system controller 3 that is located on wheel flutter permanent seat 16, is located at the second bonding jumper 12 on steeraxle 4, described second circuit plate module 13 is connected to form by inductive sensing chip and the coil corresponding with the second bonding jumper 12, described the second bonding jumper 12 adopts arc structure, be fixed on described steeraxle 4, and the width of described the second bonding jumper 12 or thickness increase gradually or reduce.The rotor of described power steering motor 2 is provided with miniature gears 15, and described steeraxle 4 is provided with big gear wheel 14, described miniature gears 15 and big gear wheel 14 engaged transmission.The material of described the first bonding jumper 10, the second bonding jumper 12 and coil is consistent or temperature coefficient of resistance is consistent.Described steering boost system controller 3 comprises power module 31, the micro controller system signal processing module 32 being connected with steering wheel angle sensor 1 and wheel flutter angular transducer 5, the motor drive module 33 being connected with power steering motor 2, and described power module 31, motor drive module 33 are all connected with micro controller system signal processing module 32.Described steering boost system controller 3 also comprises the detection module 34 being connected with power steering motor 2, described detection module 34 is connected on micro controller system signal processing module 32, and described detection module 34 adopts temperature detecting module or current detection module or both all to use.Described power module 31 adopts multipath isolated power, and each MOSFET adopts independent current source to drive, and signal is all isolated transmission by the mode of electromagnetic coupled.Described motor drive module 33 adopts H bridge circuit to realize, by two half-bridge circuits, formed, in each half-bridge circuit, the MOSFET of flash and the MOSFET on low limit are driven by two passages of half-bridge driven chip respectively, sequentially realize forward, reversion or anxious the stopping of power steering motor 2 by controlling the conducting of 4 road MOSFET in H bridge.When described detection module 34 adopts temperature detecting module, temperature sensor adopts thermally dependent resistor; when described detection module 34 adopts current detection module, current sensor adopts Hall-type linear current sensing IC; when electric current or temperature surpass limit value, by adjusting the horsepower output of power steering motor 2, realize overcurrent, overheat protector.
The core of micro controller system signal processing module 32 adopts the STM32F103 series monolithic of 32 High Performance, low-power consumption, it is mainly responsible for steering wheel angle sensor, wheel flutter angular transducer, temperature sensor and current sensor and CAN protocol communication signal gathers and the processing such as calculating, and then the action of control power steering motor 2, realization turns to servo-actuated accurately.In detection module 34, temperature detection adopts the NTC thermally dependent resistor of negative temperature coefficient, its resistance changes and linear change with this device temperature, the power device of the main heating of steering boost system controller 3 is four MOSFET, therefore NTC thermally dependent resistor is positioned over the position of MOSFET, micro controller system is realized temperature detection by measuring the dividing potential drop of this resistance in circuit series, when temperature surpasses limit value, by adjusting the horsepower output of power steering motor 2, realize overheat protector; In detection module 34, current detecting adopts the Hall-type linear current sensing IC ACS758 of high integration; the electric current when Ampereconductors of the built-in 100u Ω of this sensor gathers 2 operation of power steering motor; carry out after isolated I/V conversion analog signal transmission to micro controller system; when electric current is greater than limit value, by adjusting the horsepower output of power steering motor 2, realize overcurrent protection.
During real work, different resistance values and inductance value that when described steering wheel angle sensor 1 detects the first bonding jumper 10 diverse location, relative inductance produces, different resistance values and inductance value that when described wheel flutter angular transducer 5 detects the second bonding jumper 12 diverse location, relative inductance produces, and by inductive sensing chip, be converted to respectively the angle value of bearing circle and steering wheel; Described steering boost system controller 3 calculates by the angle value of bearing circle and steering wheel the output of controlling power steering motor 2, and control power steering motor 2 and rotate, by the transmission of steeraxle 4, control wheel flutter 8 and rotate, until the angle value of bearing circle and wheel flutter is consistent.
The principle that steering wheel angle sensor 1 and wheel flutter angular transducer 5 take measurement of an angle is: eddy effect and mutual inductance effect can produce magnetic field, i.e. main magnetic field after coil indirect current; Metal surface is because eddy effect can produce certain vortex flow, and vortex flow also can produce the magnetic field with coil magnetic field opposite direction, i.e. a secondary field; Coil, because the existence of secondary field can produce induced electric motive force, causes the generation of inductive impedance and the variation of inductance, and the size of current vortex is relevant with the shape of metal, so difform metal can produce impedance and the inductance of different sizes.According to this principle, can determine by measuring the size variation of impedance and inductance the alteration of form of metal.Produced simultaneously alternating magnetic field can consume a large amount of energy in the situation that only having an inductance, so can reduce waste of power by an electric capacity in parallel at coil two ends.
Steering wheel angle sensor 1 is identical with the method for calculating of wheel flutter angular transducer 5 angles, and the method for calculating of steering wheel angle sensor 1 is for example:
The numeral of direction initialization dish zero position is output as Z
0, Z
0belong to { X
min, X
max, by detecting bearing circle output, increase gradually or reduce again to occur under trend Z
0number of times, the frequency n of appearance is the number of turns n of rotating of steering wheel, n can be zero, rotating of steering wheel is within a circle.
The formula that calculates current angle θ is: θ=((Z-Z
0)/(X
max-X
min)) * θ
0+ n*360 °, in formula: θ is current angle, Z is the output of current chip numeral, Z
0for initial number output, scope: { X
min, X
max, X
maxfor maximum number output, X
minfor lowest numeric output, θ
0for the number of degrees of bonding jumper, the number of turns that n is rotating of steering wheel, scope { 0,1,2 ..., the positive dirction of rotating of steering wheel is different according to the rules, and θ can just can bear.
In order to weaken the impact of temperature on sensor: bonding jumper is consistent with coil method or temperature coefficient of resistance is consistent, utilize following two formula to weaken the impact of ambient temperature on result of a measurement:
Formula 1:R
s(T)=R
s0[1+ α (T-T
0)], R wherein
s0that system is at T
0time impedance, R
s(T) be the impedance of system when T, T is present temperature, and α is temperature coefficient of resistance.
Formula 2:R
p=R
pmeas/ (1+ α (T-T
cal)), R wherein
pthe impedance after correcting, R
pmeasbe the resistance value of measuring, α is temperature coefficient of resistance, T
calthe temperature of system calibration, temperature when T is operation.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various modifications or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Claims (9)
1. electrocar steering boost system, it is characterized in that: comprise wheel flutter permanent seat (16), be located at the wheel flutter (8) on wheel flutter permanent seat (16), be located at the upper traction electric machine (7) that drives wheel flutter (8) to rotate of wheel flutter permanent seat (16), be located at the steeraxle (4) on wheel flutter permanent seat (16), be located at the handle set (11) on wheel flutter permanent seat (16), be located at the bearing circle transmission shaft (6) on handle set (11), be located at wheel flutter permanent seat (16) upper with steeraxle (4) thus the power steering motor (2) that coordinates drive wheel flutter (8) to turn to, be connected to the steering boost system controller (3) on power steering motor (2), described handle set (11) is provided with the steering wheel angle sensor (1) being connected with steering boost system controller (3), described wheel flutter permanent seat (16) is provided with the wheel flutter angular transducer (5) being connected with steering boost system controller (3).
2. electrocar steering boost system according to claim 1, it is characterized in that: described steering wheel angle sensor (1) comprises the first circuit board module (9) being connected with steering boost system controller (3) being located on handle set (11), be located at the first bonding jumper (10) on bearing circle transmission shaft (6), described first circuit board module (9) is connected to form by inductive sensing chip and the coil corresponding with the first bonding jumper (10), described the first bonding jumper (10) adopts arc structure, be fixed on described bearing circle transmission shaft (6), and width or the thickness of described the first bonding jumper (10) increase gradually or reduce, described wheel flutter angular transducer (5) comprises the second circuit plate module (13) being connected with steering boost system controller (3) that is located on wheel flutter permanent seat (16), is located at the second bonding jumper (12) on steeraxle (4), described second circuit plate module (13) is connected to form by inductive sensing chip and the coil corresponding with the second bonding jumper (12), described the second bonding jumper (12) adopts arc structure, be fixed on described steeraxle (4) upper, and the width of described the second bonding jumper (12) or thickness increase gradually or reduce.
3. electrocar steering boost system according to claim 1, it is characterized in that: the rotor of described power steering motor (2) is provided with miniature gears (15), described steeraxle (4) is provided with big gear wheel (14), described miniature gears (15) and big gear wheel (14) engaged transmission.
4. electrocar steering boost system according to claim 2, is characterized in that: the material of described the first bonding jumper (10), the second bonding jumper (12) and coil is consistent or temperature coefficient of resistance is consistent.
5. electrocar steering boost system according to claim 1, it is characterized in that: described steering boost system controller (3) comprises power module (31), the micro controller system signal processing module (32) being connected with steering wheel angle sensor (1) and wheel flutter angular transducer (5), the motor drive module (33) being connected with power steering motor (2), and described power module (31), motor drive module (33) are all connected with micro controller system signal processing module (32).
6. electrocar steering boost system according to claim 5, it is characterized in that: described steering boost system controller (3) also comprises the detection module (34) being connected with power steering motor (2), it is upper that described detection module (34) is connected to micro controller system signal processing module (32), and described detection module (34) adopts temperature detecting module or current detection module or both all to use.
7. electrocar steering boost system according to claim 5, it is characterized in that: described power module (31) adopts multipath isolated power, each MOSFET adopts independent current source to drive, and signal is all isolated transmission by the mode of electromagnetic coupled.
8. electrocar steering boost system according to claim 5, it is characterized in that: described motor drive module (33) adopts H bridge circuit to realize, by controlling the conducting of 4 road MOSFET in H bridge, sequentially realize forward, reversion or anxious the stopping of power steering motor (2).
9. electrocar steering boost system according to claim 6; it is characterized in that: when described detection module (34) adopts temperature detecting module, temperature sensor adopts thermally dependent resistor; when described detection module (34) adopts current detection module, current sensor adopts Hall-type linear current sensing IC; when electric current or temperature surpass limit value, by adjusting the horsepower output of power steering motor (2), realize overcurrent, overheat protector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244892.5U CN203805987U (en) | 2014-05-14 | 2014-05-14 | Power-assisted steering system of electric truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244892.5U CN203805987U (en) | 2014-05-14 | 2014-05-14 | Power-assisted steering system of electric truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203805987U true CN203805987U (en) | 2014-09-03 |
Family
ID=51444783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420244892.5U Withdrawn - After Issue CN203805987U (en) | 2014-05-14 | 2014-05-14 | Power-assisted steering system of electric truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203805987U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386121A (en) * | 2014-11-28 | 2015-03-04 | 浙江上加机械有限公司 | Electrical power steering drive assembly |
| CN104443012A (en) * | 2014-11-28 | 2015-03-25 | 浙江上加机械有限公司 | Shockproof support for electronic power-assisted steering system |
| CN105365882A (en) * | 2014-11-07 | 2016-03-02 | 比亚迪股份有限公司 | Turning control device and method of forklift and forklift |
-
2014
- 2014-05-14 CN CN201420244892.5U patent/CN203805987U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105365882A (en) * | 2014-11-07 | 2016-03-02 | 比亚迪股份有限公司 | Turning control device and method of forklift and forklift |
| CN104386121A (en) * | 2014-11-28 | 2015-03-04 | 浙江上加机械有限公司 | Electrical power steering drive assembly |
| CN104443012A (en) * | 2014-11-28 | 2015-03-25 | 浙江上加机械有限公司 | Shockproof support for electronic power-assisted steering system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140903 Effective date of abandoning: 20160413 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |