CN204871167U - Electronic power assisted steering device based on four wheel steering - Google Patents

Electronic power assisted steering device based on four wheel steering Download PDF

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Publication number
CN204871167U
CN204871167U CN201520554944.3U CN201520554944U CN204871167U CN 204871167 U CN204871167 U CN 204871167U CN 201520554944 U CN201520554944 U CN 201520554944U CN 204871167 U CN204871167 U CN 204871167U
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CN
China
Prior art keywords
steering
wheel
sensor
motor
fpga
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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CN201520554944.3U
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Chinese (zh)
Inventor
张永辉
王悦
仇建华
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Xian Aeronautical University
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Xian Aeronautical University
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Priority to CN201520554944.3U priority Critical patent/CN204871167U/en
Application granted granted Critical
Publication of CN204871167U publication Critical patent/CN204871167U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model provides an electronic power assisted steering device based on four wheel steering, including FPGA field programmable gate array, steering -wheel torque angle sensor, turn to the angle sensor, automobile body yaw velocity sensor, speed sensor, motor current sensor, electromagnetic clutches, steering mechanism and dc motor, steering -wheel torque angle sensor, turn to the angle sensor, automobile body yaw velocity sensor, speed sensor, motor current sensor all links to each other with FPGA field programmable gate array, FPGA field programmable gate array passes through electromagnetic clutch's closed drive dc motor, dc motor and steering mechanism link to each other and operating torque in steering mechanism. The utility model discloses an automatic technology is according to the actual motion state of car, realizes the four wheel steering of car, turns to the accuracy height, use cost is low, and still reducible driver steering operation burden can improve turning to the portability and turning to the flexibility of vehicle moreover.

Description

A kind of electric power-assisted steering apparatus based on four-wheel steering
Technical field
The utility model belongs to vehicle handling stability technical field, relates to a kind of power steering apparatus, is specifically related to a kind of electric power-assisted steering apparatus based on four-wheel steering.
Background technology
Automobile steering system is as an important component part of automobile, and its performance directly affects road-holding property and the driving safety of automobile.Along with automotive steering is unified the development of automotive electronic technology, electric boosting steering system is applied to automotive field as a kind of novel servo steering system, it adopts electrical motor as power-assisted source, power-assisted ability is superior, effectively can solve the contradiction between ease of steering and road feel, can also take into account energy-saving and environmental protection, the advantage such as comfortable and safe, oneself becomes one of focus of automotive technology research.How traditional electric power steering mainly for front-wheel steering vehicle, but makes trailing wheel can relative to vehicle body active steering, turns to manoevreability, road-holding property and driving safety, have very large real practicality with what improve automobile.
Utility model content
The purpose of this utility model is to provide a kind of electric power-assisted steering apparatus based on four-wheel steering, this device can utilize FPGA field programmable gate array to receive hand-wheel torque and the steering wheel angle of the car that each sensor is measured in real time, speed of operation, yaw velocity, the multi-source informations such as steering wheel angle, before analyzing according to collection signal, assist torque required for rear-axle steering mechanism and steering angle, drive singal is sent to DC motor, the motor power-assisted square of automatic adjustment front-wheel steering dish power-assisted square and rear-axle steering mechanism, both ensured that front-wheel steering was light, trailing wheel can relative to vehicle body active steering simultaneously, four of automobile wheels are made to play steering-effecting, manoevreability is turned to what improve automobile, road-holding property and driving safety.
To achieve these goals, the utility model adopts following technical scheme to be achieved:
A kind of electric power-assisted steering apparatus based on four-wheel steering, comprise FPGA field programmable gate array, steering wheel moment angular transducer, steering angle sensor, vehicle body yaw-rate sensor, car speed sensor, motor current sensor, magnetic clutch, steering hardware and DC motor, wherein, steering wheel moment angular transducer, steering angle sensor, vehicle body yaw-rate sensor, car speed sensor, motor current sensor is all connected with FPGA field programmable gate array, FPGA field programmable gate array is by the closed driving DC motor of magnetic clutch, DC motor be connected with steering hardware and applied moment in steering hardware.
Described DC motor is also connected with speed reduction gearing, and speed reduction gearing adopts worm-and-wheel gear or sun and planet gear.
Described magnetic clutch is arranged on speed reduction gearing side.
Described motor current sensor adopts Hall-type current sensor.
Described car speed sensor is arranged on the rotor side of car speed mileage table.
Described car speed sensor adopts photo-electric car speed sensor.
Described vehicle body yaw-rate sensor is arranged on the vehicle body at automobile barycenter place.
Described vehicle body yaw-rate sensor adopts piezoelectric fluidic angular rate sensors.
Described steering angle sensor totally 4, comprises 2 front-wheel steering angle transducers and 2 rear-axle steering angle transducers; Front-wheel steering angle transducer is arranged on the side of foresteerage gear near wheel, and rear-axle steering angle transducer is arranged on the side of rear-axle steering mechanism near wheel.
Also comprise the startup for controlling four-wheel steering, closed condition and the master cock be connected with FPGA field programmable gate array.
Compared with prior art, the beneficial effect that the utility model has: the utility model is by arranging steering wheel moment angular transducer, steering angle sensor, vehicle body yaw-rate sensor, car speed sensor, motor current sensor, and the signal gathered is sent into electric power steering central location FPGA field programmable gate array by these sensors, FPGA field programmable gate array carries out logic according to the signal of these sensors and compares, draw the required assist torque required for front-and rear-wheel steer mechanism and steering angle, and send drive singal to DC motor, automatic adjustment front-wheel steering dish power-assisted square and rear-wheel motor power-assisted square, thus realize the electric power steering of four-wheel steering vehicle.Principle of work of the present utility model is in vehicle travel process, when vehicle is in steering state, the signal of the signal of front-wheel steering and motoring condition is sent into FPGA field programmable gate array by steering angle sensor, the analog signal amount that FPGA field programmable gate array gathers according to each sensor, digital quantity is converted to through A/D, carry out logic by FPGA to each railway digital amount to compare, and by magnetic clutch and motor current sensor, to DC motor output drive signal, DC motor action, power-assisted square is exported to foresteerage gear, trailing wheel deflection is driven by rear-axle steering mechanism.FPGA field programmable gate array carries out real time monitoring condition of the vehicle, the difference between evaluating objects deflection angle and trailing wheel actual steering angle simultaneously, adjusts the corner of trailing wheel in real time.According to the actual motion state of automobile, the four-wheel steering of automobile can be realized like this, have and turn to that accuracy rate is high, use cost is low, also can reduce Driver Steering Attention burden, and ease of steering and the steering flexibility of vehicle can be improved.
Accompanying drawing explanation
Fig. 1 is signal wiring schematic diagram of the present utility model.
Fig. 2 is the circuit diagram of FPGA ECU (Electrical Control Unit).
Fig. 3 is fpga logic circuit diagram.
Wherein, 1 is FPGA field programmable gate array, and 2 is steering wheel moment angular transducer, and 3 is steering angle sensor, 4 is vehicle body yaw-rate sensor, and 5 is car speed sensor, and 6 is motor current sensor, and 7 is steering hardware, 8 is steering hardware, and 9 is speed reduction gearing, and 10 is master cock, 11 is DC motor, and 12 is signal conditioning circuit, and 13 is signal distribution circuit, 14 is driving circuit, and 15 is H bridge, and 16 is electrokinetic cell, 17 is clock circuit, and 18 is power circuit, and 19 is reset circuit.
Detailed description of the invention
Below in conjunction with drawings and Examples, particular content of the present utility model is described in more detail.
As shown in Figure 1, a kind of electric power-assisted steering apparatus based on four-wheel steering, comprise FPGA field programmable gate array 1, steering wheel moment angular transducer 2, steering angle sensor 3, vehicle body yaw-rate sensor 4, car speed sensor 5, motor current sensor 6, magnetic clutch 7, steering hardware 8, speed reduction gearing 9, master cock 10 and DC motor 11.Wherein, steering wheel moment angular transducer 2, steering angle sensor 3, vehicle body yaw-rate sensor 4, car speed sensor 5, motor current sensor 6, master cock 10 are all connected with FPGA field programmable gate array 1, FPGA field programmable gate array 1 is by the closed driving DC motor 11 of magnetic clutch 7, and DC motor 11 applied moment is in steering hardware 8.
See Fig. 2, FPGA field programmable gate array is the core of four-wheel steering system, model is IDS2-70, its function is that logically gate circuit carries out after A/D is converted to digital quantity to various sensor input signal, compared by logic, then export control signal instruction, drive DC motor action.The design circuit figure of whole device as shown in fig. 2, the signal of each sensor collection comprises yaw velocity, torque corner, deflection angle will by input signal conditioning circuit 12, then by logic comparator circuit relatively after, driving circuit 14 is exported to by signal distribution circuit 13, the signal that driving circuit 14 exports is divided into two-way after H bridge 15, one tunnel enters DC motor 11, another road enters motor current sensor 6, signal one tunnel that motor current sensor 6 exports returns driving circuit 14 through overload protection, A/D conversion is carried out in another road after signal conditioning circuit 12.Vehicle speed signal is delivered to CAN by CAN interface; The voltage that electrokinetic cell 16 exports is after DC/DC conversion, and be delivered to FPGA through power circuit 18, FPGA is also connected with reset circuit 19, H bridge 15 and is also connected with magnetic clutch 7, and magnetic clutch 7 with powered by electrokinetic cell 16.FPGA is also connected with clock circuit 17.For Guarantee control system reliably works, logic comparator circuit also must take actv. interference protection measure and fault self-diagnosis treatment measures.
Steering wheel moment angular transducer 2 adopts model to be FCA7300 steering wheel moment angular transducer, be mainly used to detect chaufeur and act on operating torque and steering wheel angle on bearing circle, and convert the input torque of steering handwheel and the size and Orientation of corner to electric signal and input to FPGA field programmable gate array.The signal of steering wheel moment angular transducer 2 is not only as the incoming signal of FPGA field programmable gate array but also the feedback signal as power-assisted effect, and its output characteristic directly has influence on the performance of whole four-wheel steering system.
Steering angle sensor 3 totally 4, comprises 2 front-wheel steering angle transducers and 2 rear-axle steering angle transducers; Front-wheel steering angle transducer is arranged on the side of foresteerage gear near wheel, and rear-axle steering angle transducer is arranged on the side of rear-axle steering mechanism near wheel; Steering angle sensor adopts non-contact type hall element sensor, is used for detecting the instantaneous angle of inclination of forward and backward wheel.Steering angle sensor adopts model to be WDJ22-D steering angle sensor.
Vehicle body yaw-rate sensor 4 is arranged on the vehicle body at automobile barycenter place, adopt piezoelectric fluidic angular rate sensors, detect vehicle body yaw velocity when motor turning travels, input FPGA field programmable gate array as electronic signals, FPGA field programmable gate array exports control signal, the divertical motion of real-time control automobile, ensures dynamic stability when motor turning travels.Vehicle body yaw-rate sensor 4 adopts model to be KD8651A059 yaw-rate sensor.
Car speed sensor 5 is arranged on the rotor side of car speed mileage table, model is adopted to be CZG-8-2CH photo-electric car speed sensor, automobile speed of advance is detected, exports with the form of impulse singla, flow to four-wheel steering system FPGA field programmable gate array with CAN.
Motor current sensor 6 is used for gathering DC motor working current, as the feedback signal to motor control.Motor current sensor 6 adopts model to be CHB-20L/SP9 Hall-type current sensor, and Hall-type current sensor can measure direct current (DC), alternating current, pulse current, has response fast, closed-loop type precision is high, electrical isolation, uses simple advantage, is specifically designed to control survey.
Magnetic clutch 7 is as an actuating unit, be contained in the side of speed reduction gearing, for ensureing that electrical motor works in the vehicle speed range pre-set, increase servo-steering reliability, when the speed of a motor vehicle exceedes this scope, magnetic clutch be separated, make boosting motor and disengaging of clutch, this system only with pilot control masterpiece for propulsion source.In addition, when electrical motor or sensor experiences failure, magnetic clutch also will be separated automatically, to ensure only also can realize normal steering operation with the actuating force of chaufeur.Magnetic clutch adopt model be triumphant suitable/CDFO1OAA magnetic clutch.
The function of DC motor 11 exports suitable torque and corner according to FPGA field programmable gate array, and drive front and rear wheel steering hardware, controlling turning to of front and rear wheel, is the driving power element in four-wheel steering system.DC motor adopts model to be ZWH120-500/24 DC motor.
The function of speed reduction gearing 9 reduces stepper motor rotating speed, increases the torque that stepper motor passes to steering gear, normal employing worm-and-wheel gear or sun and planet gear.
Master cock 10 is for controlling startup, the closed condition of four-wheel steering system.Adopt key mode, pushed at every turn, the power supply of this system is just connected or closes.When four-wheel steering breaks down, switch traditional steering hardware in time, cancel the power-assisted of motor.
Principle of work of the present utility model is in vehicle travel process, when vehicle is in steering state, the signal of the signal of front-wheel steering and motoring condition is sent into FPGA field programmable gate array by steering angle sensor, the analog signal amount that FPGA field programmable gate array gathers according to each sensor, digital quantity is converted to through A/D, carry out logic by FPGA to each railway digital amount to compare, and by magnetic clutch and motor current sensor, to DC motor output drive signal, DC motor action, power-assisted square is exported to foresteerage gear, trailing wheel deflection is driven by rear-axle steering mechanism.FPGA field programmable gate array carries out real time monitoring condition of the vehicle, the difference between evaluating objects deflection angle and trailing wheel actual steering angle simultaneously, adjusts the corner of trailing wheel in real time.According to the actual motion state of automobile, the four-wheel steering of automobile can be realized like this.
In the utility model, each sensor, master cock are connected with FPGA field programmable gate array, and FPGA field programmable gate array drives DC motor by magnetic clutch again, realize the servo-steering to front and rear wheel steering hardware.The utility model adopts automatic technology according to the actual motion state of automobile, realize the four-wheel steering of automobile, turn to that accuracy rate is high, use cost is low, also can reduce Driver Steering Attention burden, and ease of steering and the steering flexibility of vehicle can be improved.
The discrete signal that the collection that in Fig. 3, B1-B7 is respectively each sensor arrives, through fpga logic gate circuit module, first A/D conversion is carried out to the analog signal that each sensor gathers, digital signal amount Serial_in_1 after conversion, Serial_in_2, Serial_in_7 passes to each point of gate circuit module respectively, the function of dividing gate circuit module the 7 road signals transmitted in real time is done real-time logic compare, and its task is exactly carry out thresholding detection according to the range of normal value of each road signal to signal.Output rusults with operation code Code_1, Code_2 ..., the mode of Code_7 is input to motor-drive circuit output driving current to electrical motor, realizes the control of boosting motor.

Claims (10)

1. the electric power-assisted steering apparatus based on four-wheel steering, it is characterized in that, comprise FPGA field programmable gate array (1), steering wheel moment angular transducer (2), steering angle sensor (3), vehicle body yaw-rate sensor (4), car speed sensor (5), motor current sensor (6), magnetic clutch (7), steering hardware (8) and DC motor (11), wherein, steering wheel moment angular transducer (2), steering angle sensor (3), vehicle body yaw-rate sensor (4), car speed sensor (5), motor current sensor (6) is all connected with FPGA field programmable gate array (1), FPGA field programmable gate array (1) is by the closed driving DC motor (11) of magnetic clutch (7), DC motor (11) be connected with steering hardware (8) and applied moment in steering hardware (8).
2. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, it is characterized in that, described DC motor (11) is also connected with speed reduction gearing (9), and speed reduction gearing (9) adopts worm-and-wheel gear or sun and planet gear.
3. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 2, is characterized in that, described magnetic clutch (7) is arranged on speed reduction gearing (9) side.
4. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, is characterized in that, described motor current sensor (6) adopts Hall-type current sensor.
5. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, is characterized in that, described car speed sensor (5) is arranged on the rotor side of car speed mileage table.
6. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1 or 5, is characterized in that, described car speed sensor (5) adopts photo-electric car speed sensor.
7. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, is characterized in that, described vehicle body yaw-rate sensor (4) is arranged on the vehicle body at automobile barycenter place.
8. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1 or 7, is characterized in that, described vehicle body yaw-rate sensor (4) adopts piezoelectric fluidic angular rate sensors.
9. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, is characterized in that, described steering angle sensor (3) totally 4, comprises 2 front-wheel steering angle transducers and 2 rear-axle steering angle transducers; Front-wheel steering angle transducer is arranged on the side of foresteerage gear near wheel, and rear-axle steering angle transducer is arranged on the side of rear-axle steering mechanism near wheel.
10. a kind of electric power-assisted steering apparatus based on four-wheel steering according to claim 1, it is characterized in that, also comprising the startup for controlling four-wheel steering, closed condition and the master cock (10) be connected with FPGA field programmable gate array (1).
CN201520554944.3U 2015-07-28 2015-07-28 Electronic power assisted steering device based on four wheel steering Expired - Fee Related CN204871167U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520554944.3U CN204871167U (en) 2015-07-28 2015-07-28 Electronic power assisted steering device based on four wheel steering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520554944.3U CN204871167U (en) 2015-07-28 2015-07-28 Electronic power assisted steering device based on four wheel steering

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105667578A (en) * 2016-01-08 2016-06-15 普天新能源(深圳)有限公司 Steering device, automobile steering control system and automobile
CN108032903A (en) * 2017-11-17 2018-05-15 南京视莱尔汽车电子有限公司 A kind of autonomous driving vehicle steering control system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105667578A (en) * 2016-01-08 2016-06-15 普天新能源(深圳)有限公司 Steering device, automobile steering control system and automobile
CN105667578B (en) * 2016-01-08 2018-01-12 普天新能源(深圳)有限公司 Steering gear, automobile steering control system and automobile
CN108032903A (en) * 2017-11-17 2018-05-15 南京视莱尔汽车电子有限公司 A kind of autonomous driving vehicle steering control system
CN111267952A (en) * 2017-11-17 2020-06-12 南京视莱尔汽车电子有限公司 Steering control system of automatic driving automobile

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151216

Termination date: 20160728

CF01 Termination of patent right due to non-payment of annual fee