CN206067874U - It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory - Google Patents
It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory Download PDFInfo
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- CN206067874U CN206067874U CN201621070325.8U CN201621070325U CN206067874U CN 206067874 U CN206067874 U CN 206067874U CN 201621070325 U CN201621070325 U CN 201621070325U CN 206067874 U CN206067874 U CN 206067874U
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Abstract
The utility model discloses a kind of man-machine drive type electric boosting steering system altogether based on mix theory, belong to the unmanned steering field of intelligent automobile, man-machine type electric boosting steering system of driving altogether includes that preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter, man-machine type electric power steering of driving altogether mix controller, switching monitoring controller, steer motor, steering spindle, reducing gear and pinion and rack；Man-machine type Electric Power Steering Control System of driving altogether is divided into five kinds of mode of operations by this utility model, challenge in whole service engineering is decomposed into into the synthesis of control problem under single operating mode, so as to realize man-machine driving type electric boosting steering system Complex Modeling and control altogether.This utility model stability of control system is high, and control method is easily realized, can meet the different steering situation of vehicle.
Description
Technical field
This utility model belongs to the unmanned steering field of intelligent automobile, more particularly to a kind of is driven based on mixing the man-machine of theory altogether
Type electric boosting steering system.
Background technology
Intelligent automobile integrates the multi-field new and high technologies such as environment sensing, programmed decision-making, the auxiliary driving of many grades
Complication system, the development of intelligent automobile technology will experience from part and drive function autonomy-oriented to entirely autonomous driving, from a high speed
Course of the simple environment automatic Pilot such as highway to the continuous advance of different kinds of roads automatic Pilot.
Intelligent automobile steering situation is complicated and changeable, and motor turning manipulates the control to each operating mode and requires higher, traditional control
It is special that strategy processed cannot take into account the man-machine multi-state for driving (people drives and drives with machine) under two kinds of steering patterns of type electric boosting steering system altogether
The steering behaviour coordinated under different operating modes of seeking peace is required；On the other hand, man-machine type electric boosting steering system of driving altogether is to control
Requirement of real-time is higher, from the function and its design, the angle realized of controller (or control strategy), should meet under multi-state
Steering behaviour require that the design for making controller again is as far as possible simple, easily realize, traditional control strategy is difficult to take into account both
Between contradiction.
Further, since outside vehicle interference and Parameters variation, the change of operating condition cause transition of control model etc. from
Scattered event and continuously dynamic are simultaneously deposited, and are determined that man-machine type electric boosting steering system of driving altogether is typical complex dynamic systems, and are passed
The control strategy of system cannot reflect it is man-machine drive type electric boosting steering system discrete event and continuous dynamic altogether and the feature deposited with
And impact of the discrete event to continuous dynamic behaviour and the fusion of various control pattern and transition.
Utility model content
To solve above-mentioned technical problem, this utility model provide it is a kind of based on mix theory man-machine to drive type altogether electric boosted
The man-machine hybrid characters for driving type electric boosting steering system altogether are analyzed using theory is mixed, are further carried by steering
The high man-machine control performance for driving type electric boosting steering system altogether, level of intelligence.
To achieve these goals, this utility model is employed the following technical solutions：
It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory, it is characterised in that including preposition torque/
Rotary angle transmitter, rearmounted torque/rotary angle transmitter, man-machine type electric power steering of driving altogether mix controller, switching Supervised Control
Device, steer motor, steering spindle, reducing gear and pinion and rack；
The steering spindle is engaged by gear with pinion and rack, and the steering spindle is sequentially installed with preposition from top to bottom
Torque/rotary angle transmitter, reducing gear and rearmounted torque/rotary angle transmitter, the reducing gear pass through shaft coupling with steer motor
Device connects；The steer motor with it is man-machine drive type electric power steering altogether and mix controller be connected by wire, it is described man-machine common
The type electric power steering of driving mixes controller by current control steer motor；The man-machine type electric power steering of driving altogether mixes
Controller also by wire respectively with preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter, switching monitoring controller
Connection, is respectively used to collection torque/corner value, the man-machine type electric power steering of driving altogether of supervision and mixes controller in various Working moulds
Whether normal work under formula；
The switching monitoring controller is in the operating condition of electric power steering current system, internal discrete event and outside
Had an effect under discrete event jointly, it is all multidimensional variable to switch the input of monitoring controller, output, has both contained continuous variable,
Also contain discrete variable；
It is described it is man-machine drive type electric power steering altogether and mix controller include Signal-regulated kinase, microprocessor and driving
Module, Signal-regulated kinase are used to nurse one's health preposition torque/rotary angle transmitter, the signal of rearmounted torque/rotary angle transmitter, remove letter
Larger interference and clutter in number；Microprocessor is used for the control strategy for producing control steer motor；Drive module is referred to and is passed through
Size of current in the pwm signal adjustment ratio coil that microprocessor sends, so as to drive steer motor to work.
In such scheme, the man-machine type electric power steering of driving altogether mixes controller comprising five kinds of mode of operations, difference
" driving small angle tower " mode m is driven for machine1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mould
Formula m4And people drives " power-assisted " mode m5。
In such scheme, in the case where people drives pattern, steer motor serves as assist motor, and auxiliary driver is manually turned to；
In the case where machine drives pattern, steer motor serves as motor, realizes the auto-steering operation that non-driver is participated in.
The beneficial effects of the utility model are：
1st, man-machine type Electric Power Steering Control System of driving altogether is divided into five kinds of mode of operations by this utility model, will be whole
Challenge in operation engineering is decomposed into the synthesis of control problem under single operating mode, so as to realize man-machine driving that type is electronic to be helped altogether
Power steering Complex Modeling and control.This utility model is set up under each turning operation state of vehicle based on hybrid switching system
Optimum steering control system stability is high, due to setting up switching monitoring controller, has both ensured man-machine to drive type electric power steering altogether
The switching of each control model of system, ensures the asymptotically stability of system in handoff procedure again.
2nd, this utility model realizes man-machine being driven under type electric boosting steering system full working scope altogether under the framework for mixing theory
Control, can be well adapted under most typical case's steering situations, the size of Automatic adjusument steering force and steering angle, from
And exporting optimal steering behaviour so that the control stability of Vehicular system is significantly improved.
3rd, this utility model it is determined that it is man-machine drive altogether type electric boosting steering system difference steering situation during, while
Consider torque/corner size and torque and tarnsition velocity direction it is whether identical, make determination steering force and steering angle it is big
It is little to meet the different steering situation of vehicle.
Description of the drawings
Fig. 1 is this utility model based on the man-machine structural representation for driving type electric boosting steering system altogether for mixing theory；
Fig. 2 is man-machine to drive the control system block diagram that type electric power steering mixes controller altogether；
Fig. 3 drives the control method flow chart that type electric power steering mixes controller altogether for this utility model is man-machine.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
As shown in figure 1, a kind of drive type electric boosting steering system altogether based on mixing the man-machine of theory, including preposition torque/
Rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2, man-machine type electric power steering of driving altogether mix controller 3, switching supervision control
Device processed 4, steer motor 5, steering spindle 6, reducing gear 7 and pinion and rack 8；
Steering spindle 6 is engaged by gear with pinion and rack 8, steering spindle 6 be sequentially installed with from top to bottom preposition torque/
Rotary angle transmitter 1, reducing gear 7 and rearmounted torque/rotary angle transmitter 2, reducing gear 7 are connected by shaft coupling with steer motor 5
Connect；Steer motor 5 with it is man-machine drive type electric power steering altogether and mix controller 3 be connected by wire, it is man-machine to drive that type is electronic to be helped altogether
Power is turned to and mixes controller 3 by current control steer motor 5；It is man-machine drive type electric power steering altogether and mix controller 3 also lead to
Cross wire to be connected with preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2, switching monitoring controller 4 respectively, point
Yong Yu not gather torque/corner value, supervise it is man-machine drive type electric power steering altogether and mix controller 3 under various mode of operations be
No normal work.
Man-machine type electric power steering of driving altogether mixes controller 3 comprising five kinds of mode of operations, and respectively machine is driven and " drives little turn
Angle " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4And people drives and " helps
Power " mode m5, as shown in Fig. 2 in figure CDS be continuous dynamic system, DDS be discrete dynamic system.
Wherein, man-machine type electric boosting steering system of driving altogether according to Newtonian mechanics, obtains which under four kinds of patterns that machine is driven
Kinetics equation is as follows：
TL=Kr(θm-Gθ)e (2)
Wherein,For the corner acceleration of motor, rad/s2；JmFor motor and the rotary inertia of clutch, kg
m2；BmFor motor viscous damping coefficient；θmFor the corner of motor, rad；For the rotating speed of motor, rad/s；TmFor electronic
Electromechanical magnetic torque, Nm；TLFor the load torque of motor, Nm；KrFor the output shaft rigidity system of motor and reducing gear
Number；Speed reducing ratio of the G for worm gear-endless screw reducing gear；θeFor the anglec of rotation of output shaft, rad；Now, machine is driven rearmounted turn under pattern
The torque value T=T of square/rotary angle transmitter 2L。
Man-machine type electric boosting steering system of driving altogether is driven under (assistant mode) in people, sets up the state space equation of system
For：
Wherein, state variable For state variable X2Single order lead
Number；Control input amount U2=[Th Tm Fδ]T；OutputθsFor input shaft
The anglec of rotation, rad；For input shaft angular velocity of rotation, rad/s；xrFor the displacement of tooth bar, m；For the translational speed of tooth bar,
km/h；ThFor effect steering torque on the steering wheel, Nm；FδFor the chance mechanism power on road surface, N；TsenFor the anti-work of torsion bar
With torque, Nm；The torque value T '=T of preposition torque/rotary angle transmitter 1 in the case where people drives patternL2。
Coefficient A2、B2、C2、D2Respectively：
Wherein, JsFor steering wheel, the rotary inertia of input shaft, kgm2；BsFor the viscous damping coefficient of input shaft, KsFor
The stiffness coefficient of torsion bar, rpFor little gear radius, m；MrFor tooth bar and the equivalent mass of little gear, kg；BrFor the damping system of tooth bar
Number.
In the case where people drives pattern, steer motor 5 serves as assist motor, and auxiliary driver is manually turned to；Pattern is driven in machine
Under, steer motor 5 serves as motor, realizes the auto-steering operation that non-driver is participated in.
Logic/decision part of the switching monitoring controller 4 as system, should ensure man-machine to drive type electric power steering altogether
The switching of each controller of system, ensures the asymptotically stability of system in handoff procedure again, and switching monitoring controller 4 is in current system
Operating condition, have an effect under internal discrete event and external discrete event jointly, drive type electric power steering altogether to man-machine
For hybrid control system, it is all multidimensional variable to switch the input of monitoring controller 4, output, had both contained continuous variable, and had also contained
Discrete variable；The generation of each internal discrete event and external discrete event is monitored, internal discrete event refers to steering-wheel torque signal
Whether more than Td,0(torque dead-band range higher limit), Ta(a certain setting intermediate torque value) and Tmax(motor 5 exports maximum turning
Square value), the discrete event such as preposition or rearmounted torque/rotary angle transmitter is working properly；External discrete event-monitoring control model
Transition, according to different monitoring parameters, in m1～m5Transition is carried out between 5 kinds of patterns.
It is man-machine drive altogether type electric power steering mix controller 3 include Signal-regulated kinase, microprocessor and drive mould
Block, Signal-regulated kinase are used to nurse one's health preposition torque/rotary angle transmitter 1, the signal of rearmounted torque/rotary angle transmitter 2, remove letter
Larger interference and clutter in number；Microprocessor is used for the control strategy for producing control steer motor 5, micro- place of the present utility model
Reason device is LPC2131 microprocessors；Drive module refers to the electricity adjusted by the pwm signal that microprocessor sends in ratio coil
Stream size, so as to drive steer motor 5 to work；Drive module refers specifically to H type unipolarity Reversible PWM drive systems, is switched by 4
Pipe and 4 fly-wheel diode compositions, according to different control rules are arranged, produce different control models.
It is a kind of based on mix theory it is man-machine drive type electric boosting steering system altogether the course of work be：
Man-machine type electric power steering of driving altogether mixes controller 3 by preposition torque/rotary angle transmitter 1, rearmounted torque/turn
Angle transducer 2 gathers torque/corner value, Jing after Signal-regulated kinase removes interference and clutter is transferred to microprocessor, microprocessor
Device produces the control strategy of control steer motor 5 by the signal for receiving, and sends pwm signal adjustment 5 ratio line of steer motor
Size of current in circle, so as to drive steer motor 5 to work；Steer motor 5 through 7 output torque of reducing gear to steering spindle 6,
Pinion and rack 8 is driven to work, so that wheel produces divertical motion；
The apery steering rule base program that type electric power steering mixes the storage of controller 3 is driven altogether by man-machine, judges electricity
Steering situation residing for dynamic servo steering system：Lane-change traveling, track holding, negotiation of bends and Emergency avoidance, analyze steering system
The hybrid characters of system, judge it is man-machine drive type electric power steering altogether and mix controller 3 drive " driving small angle tower " mode m into machine1、
Machine drives " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4" power-assisted " mode m is driven with people5In
Certain mode of operation；Switching monitoring controller 4 is by gathering preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2
Torque/corner value, supervise man-machine type electric power steering of driving altogether and mix the whether normal work under various mode of operations of controller 3
Make；If it is man-machine drive type electric power steering altogether and mix controller 3 work abnormal, switch monitoring controller 4 preposition by what is gathered
Torque/rotary angle transmitter 1, the torque/corner value of rearmounted torque/rotary angle transmitter 2 are sent to man-machine drives electric boosted turn of type altogether
To mixing controller 3, it is man-machine drive type electric power steering altogether and mix controller 3 cut by H type unipolarity Reversible PWM drive systems
Change to correct mode of operation, it is ensured that it is man-machine drive type electric power steering altogether and mix controller 3 carry out between each mode of operation
Mix switching, while ensureing the asymptotically stability of electric boosting steering system in handoff procedure.
A kind of is to realize controlling according to following steps based on theoretical man-machine type electric boosting steering system of driving altogether is mixed,
As shown in Figure 3：
Step 1), set up apery and turn to rule base；
It is, according to great number tested data, to extract vehicle parameter under various operating modes, and Rule Summary, make that apery turns to rule base
Typical condition and vehicle parameter form corresponding relation, and will determine that result passes to man-machine type electric power steering of driving altogether and mixes control
Device processed.
Step 2), according to it is man-machine drive type electric boosting steering system altogether residing for steering situation：Including lane-change traveling, track
Keep, negotiation of bends and Emergency avoidance, the hybrid characters of analysis system, as judging that man-machine type electric power steering of driving altogether mixes
One of foundation of 3 mode of operation of controller；
Driving type electric power steering altogether and mixing the mode of operation of controller 3 includes that machine drives " driving small angle tower " mode m1, machine
Drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4" power-assisted " mode m is driven with people5；(Td,0
For the torque dead-band range higher limit of steer motor 5, its value is 1Nm；TmaxFor steer motor 5 output maximum torque value, its
It is worth for 8Nm；TaFor Td,0With TmaxBetween a certain setting torque value, its value is set to 2Nm；)
When vehicle is travelled when lane-change is travelled or track keeps steering situation, if preposition torque/rotary angle transmitter 1 is no turning
Square value, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Td,0＜ T ＜ Ta, while torque in real time and tarnsition velocity direction
When identical, judgement drives " driving small angle tower " mode m into machine1；
When vehicle is travelled in negotiation of bends or Emergency avoidance operating mode, if the 1 no torque of preposition torque/rotary angle transmitter
Value, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Ta＜ T ＜ Tmax, while torque in real time and tarnsition velocity direction phase
Meanwhile, judgement drives " driving big corner " mode m into machine2；
When vehicle is travelled when lane-change is travelled or track keeps operating mode, if the 1 no torque of preposition torque/rotary angle transmitter
Value, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets Ta＜ T ＜ Tmax, while torque in real time and tarnsition velocity direction phase
Inverse time, judge to drive " just returning " mode m into machine3；
When vehicle is travelled when lane-change is travelled or track keeps operating mode, if the 1 no torque of preposition torque/rotary angle transmitter
Value, and the torque value T of rearmounted torque/rotary angle transmitter 2 meets 0 ＜ T ＜ Td,0, while torque in real time and tarnsition velocity direction phase
Meanwhile, judgement drives " damping " mode m into machine4；
No matter when which kind of operating mode vehicle is travelled in, if preposition torque/rotary angle transmitter 1 has torque value, and torque value dimension
More than 3s is held, and the torque value T ' of preposition torque/rotary angle transmitter 1 meets Td,0＜ T ' ＜ Tmax, judge to drive " power-assisted " into people
Mode m5。
Step 3), according to the real-time torque/corner value of preposition torque/rotary angle transmitter 1 collection, to real-time torque/corner
Value is differentiated and obtains tarnsition velocity value, and tarnsition velocity value is analyzed, and judges the threshold value and tarnsition velocity of real-time torque
Threshold value, as judge it is man-machine drive altogether type electric power steering mix 3 mode of operation of controller foundation it two.
Step 4), according to one of foundation of system operating mode, two, it is final determine current man-machine drives electric boosted turn of type altogether
To mixing which kind of mode of operation controller 3 should select；At the same time, determine the man-machine optimum for driving type electric boosting steering system altogether
Control mode.
Step 5), judged by the threshold value of threshold value and tarnsition velocity to real-time torque, and according to internal system and outward
The discrete input signal in portion, to it is man-machine drive type electric power steering altogether and mix the mode of operation of controller 3 carry out mixing switching；It is interior
The discrete input signal in portion is referred to by the continuous dynamic operation of various mode of operations for driving type electric power steering altogether and mixing controller 3
And the evolution of the mode of operation for causing；Outside discrete input signal includes external interference and system time lags.
Above example is merely to illustrate design philosophy of the present utility model and feature, its object is to make in the art
Technical staff will appreciate that content of the present utility model and implement according to this that protection domain of the present utility model is not limited to above-mentioned enforcement
Example.So, equivalent variations or modification that the principle, mentality of designing disclosed in all foundation this utility model is made, in this practicality
Within new protection domain.
Claims (3)
1. it is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory, it is characterised in that including preposition torque/turn
Angle transducer (1), rearmounted torque/rotary angle transmitter (2), man-machine type electric power steering of driving altogether mix controller (3), switching prison
Superintend and direct controller (4), steer motor (5), steering spindle (6), reducing gear (7) and pinion and rack (8)；
The steering spindle (6) is engaged by gear with pinion and rack (8), and the steering spindle (6) is installed from top to bottom successively
There are preposition torque/rotary angle transmitter (1), reducing gear (7) and rearmounted torque/rotary angle transmitter (2), the reducing gear (7)
It is connected by shaft coupling with steer motor (5)；The steer motor (5) mixes controller with man-machine type electric power steering of driving altogether
(3) connected by wire, the man-machine type electric power steering of driving altogether mixes controller (3) by current control steer motor
(5)；It is described it is man-machine drive altogether type electric power steering mix controller (3) also by wire respectively with preposition torque/rotation angular sensing
Device (1), rearmounted torque/rotary angle transmitter (2), switching monitoring controller (4) connection, are respectively used to gather torque/corner value, prison
Superintend and direct man-machine type electric power steering of driving altogether and mix controller (3) whether normal work under various mode of operations；
Switching monitoring controller (4) is in the operating condition of electric power steering current system, internal discrete event and outside
Had an effect under discrete event jointly, it is all multidimensional variable to switch the input of monitoring controller (4), output, both containing continuous change
Amount, also contains discrete variable；
The man-machine type electric power steering of driving altogether mixes controller (3) including Signal-regulated kinase, microprocessor and driving
Module, Signal-regulated kinase are used to nurse one's health preposition torque/rotary angle transmitter (1), the signal of rearmounted torque/rotary angle transmitter (2),
Remove larger interference and clutter in signal；Microprocessor is used for the control strategy for producing control steer motor (5)；Drive module
The size of current adjusted by the pwm signal that microprocessor sends in ratio coil is referred to, so as to drive steer motor (5) work
Make.
2. it is according to claim 1 it is a kind of based on mix theory it is man-machine drive type electric boosting steering system altogether, its feature
It is that the man-machine type electric power steering of driving altogether mixes controller (3) comprising five kinds of mode of operations, and respectively machine is driven and " driven
Small angle tower " mode m1, machine drive " driving big corner " mode m2, machine drive " just return " mode m3, machine drive " damping " mode m4And people drives
" power-assisted " mode m5。
3. it is according to claim 2 it is a kind of based on mix theory it is man-machine drive type electric boosting steering system altogether, its feature
It is that in the case where people drives pattern, steer motor (5) serves as assist motor, and auxiliary driver is manually turned to；Pattern is driven in machine
Under, steer motor (5) serves as motor, realizes the auto-steering operation that non-driver is participated in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621070325.8U CN206067874U (en) | 2016-09-21 | 2016-09-21 | It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621070325.8U CN206067874U (en) | 2016-09-21 | 2016-09-21 | It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206067874U true CN206067874U (en) | 2017-04-05 |
Family
ID=58439693
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621070325.8U Withdrawn - After Issue CN206067874U (en) | 2016-09-21 | 2016-09-21 | It is a kind of man-machine to drive type electric boosting steering system altogether based on mix theory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206067874U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275061A (en) * | 2016-09-21 | 2017-01-04 | 江苏大学 | A kind of man-machine drive type electric boosting steering system and control method altogether based on mix theory |
| CN108572576A (en) * | 2018-07-10 | 2018-09-25 | 吉林大学 | It is man-machine drive altogether and unmanned technology and test vehicle-mounted external drive robot |
-
2016
- 2016-09-21 CN CN201621070325.8U patent/CN206067874U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275061A (en) * | 2016-09-21 | 2017-01-04 | 江苏大学 | A kind of man-machine drive type electric boosting steering system and control method altogether based on mix theory |
| CN106275061B (en) * | 2016-09-21 | 2018-08-10 | 江苏大学 | It is a kind of theoretical man-machine to drive type electric boosting steering system and control method altogether based on mixing |
| CN108572576A (en) * | 2018-07-10 | 2018-09-25 | 吉林大学 | It is man-machine drive altogether and unmanned technology and test vehicle-mounted external drive robot |
| CN108572576B (en) * | 2018-07-10 | 2023-08-18 | 吉林大学 | Man-machine co-driving and unmanned technology and vehicle-mounted external driving robot for testing |
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Granted publication date: 20170405 Effective date of abandoning: 20180810 |