CN206537342U - A kind of composite turning system - Google Patents
A kind of composite turning system Download PDFInfo
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- CN206537342U CN206537342U CN201720045528.XU CN201720045528U CN206537342U CN 206537342 U CN206537342 U CN 206537342U CN 201720045528 U CN201720045528 U CN 201720045528U CN 206537342 U CN206537342 U CN 206537342U
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Abstract
Description
技术领域technical field
本实用新型涉及转向系统技术领域，尤其涉及一种复合转向系统。The utility model relates to the technical field of steering systems, in particular to a composite steering system.
背景技术Background technique
汽车转向系统是决定汽车主动安全性的关键总成，传统汽车转向系统是机械系统，汽车的转向运动是由驾驶员操纵转向盘，通过转向器传递到转向车轮而实现的。The automobile steering system is the key assembly that determines the active safety of the automobile. The traditional automobile steering system is a mechanical system. The steering movement of the automobile is realized by the driver manipulating the steering wheel and transmitting it to the steering wheels through the steering gear.
汽车线控转向系统取消了方向盘与转向轮之间的机械连接，完全由电控实现转向，摆脱了传统转向系统的各种限制，不但可以自由设计汽车转向的力传递特性，而且可以设计汽车转向的角传递特性，给汽车转向特性的设计带来无限的空间，是汽车转向系统的重大革新。但是同时由于无机械连接，可靠性较差。The steering-by-wire steering system of automobiles cancels the mechanical connection between the steering wheel and the steering wheel, and the steering is completely realized by electronic control, which gets rid of various restrictions of the traditional steering system. Not only can the force transmission characteristics of the steering wheel be freely designed, but also the steering The angular transfer characteristics of the car bring unlimited space to the design of the car's steering characteristics, and it is a major innovation in the car's steering system. But at the same time, because there is no mechanical connection, the reliability is poor.
电动助力转向系统所能提供助力较小。对于大型客车而言，有时候电动助力转向系统难以满足转向助力。为了满足汽车在任何情况下都能提供相应的转向助力，可能需要两套助力转向系统同时介入，但是两套助力转向系统同时工作时，会产生一定的能量浪费。The electric power steering system can provide less assistance. For large passenger cars, sometimes the electric power steering system is difficult to meet the power steering. In order to meet the requirement that the car can provide corresponding steering assistance under any circumstances, two sets of power steering systems may be required to intervene at the same time, but when the two sets of power steering systems work at the same time, a certain amount of energy waste will be generated.
实用新型内容Utility model content
本实用新型所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种复合转向系统。The technical problem to be solved by the utility model is to provide a composite steering system for the defects involved in the background technology.
本实用新型为解决上述技术问题采用以下技术方案：The utility model adopts the following technical solutions for solving the above-mentioned technical problems:
一种复合转向系统，包括电动助力转向系统和线控四轮转向系统；A compound steering system, including an electric power steering system and a wire control four-wheel steering system;
所述电动助力转向系统包含方向盘、方向盘转角传感器、转向柱、减速机构、离合器、助力电机、转向控制ECU、车速传感器、侧向加速度传感器和齿轮齿条转向器；The electric power steering system includes a steering wheel, a steering wheel angle sensor, a steering column, a reduction mechanism, a clutch, a power assist motor, a steering control ECU, a vehicle speed sensor, a lateral acceleration sensor, and a rack and pinion steering gear;
所述线控四轮转向系统包括前轴、左前轮轮毂电机、右前轮轮毂电机、电机控制单元、左后轮轮毂电机、右后轮轮毂电机和后轴；The four-wheel steering system includes a front axle, a left front wheel hub motor, a right front wheel hub motor, a motor control unit, a left rear wheel hub motor, a right rear wheel hub motor and a rear axle;
所述转向柱一端和汽车的方向盘固定相连，另一端通过所述齿轮齿条转向器和所述前轴相连；One end of the steering column is fixedly connected with the steering wheel of the automobile, and the other end is connected with the front axle through the rack and pinion steering gear;
所述方向盘转角传感器安装在转向柱上，用于获取方向盘的转角；The steering wheel angle sensor is installed on the steering column for obtaining the steering wheel angle;
所述助力电机通过离合器与减速机构输入端相连，用于提供转向助力；The booster motor is connected to the input end of the reduction mechanism through a clutch to provide steering booster;
所述减速机构输出端设置在转向柱上；The output end of the reduction mechanism is arranged on the steering column;
所述车速传感器和侧向加速度传感器安装在汽车车身上，分别用于获取汽车车速和汽车侧向加速度；The vehicle speed sensor and the lateral acceleration sensor are installed on the vehicle body and are used to obtain the vehicle speed and the vehicle lateral acceleration respectively;
所述前轴两端分别与汽车的左前轮、右前轮相连；The two ends of the front axle are respectively connected with the left front wheel and the right front wheel of the automobile;
所述左前轮轮毂电机、右前轮轮毂电机分别安装在左前轮、右前轮上，分别用于驱动汽车的左前轮、右前轮；The left front wheel hub motor and the right front wheel hub motor are installed on the left front wheel and the right front wheel respectively, and are respectively used to drive the left front wheel and the right front wheel of the automobile;
所述后轴两端分别与汽车的左后轮、右后轮相连；The two ends of the rear axle are respectively connected with the left rear wheel and the right rear wheel of the automobile;
所述左后轮轮毂电机、右后轮轮毂电机分别安装在左后轮、右后轮上，分别用于驱动汽车的左后轮、右后轮；The left rear wheel hub motor and the right rear wheel hub motor are installed on the left rear wheel and the right rear wheel respectively, and are respectively used to drive the left rear wheel and the right rear wheel of the automobile;
所述转向控制ECU分别和助力电机、方向盘转角传感器、车速传感器、侧向加速度传感器、电机控制单元电气相连，用于根据方向盘转角传感器、车速传感器、侧向加速度传感器测得的方向盘转角、汽车车速、侧向加速度控制助力电机工作，计算左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩并产生相应的电流信号传递给所述电机控制单元；The steering control ECU is electrically connected to the power assist motor, the steering wheel angle sensor, the vehicle speed sensor, the lateral acceleration sensor, and the motor control unit respectively, and is used to measure the steering wheel angle and the vehicle speed according to the steering wheel angle sensor, the vehicle speed sensor, and the lateral acceleration sensor. . The lateral acceleration controls the work of the booster motor, calculates the torques of the left front wheel hub motor, the right front wheel hub motor, the left rear wheel hub motor, and the right rear wheel hub motor, and generates corresponding current signals and transmits them to the motor control unit;
所述电机控制单元分别和左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机、转向控制ECU电气相连，用于根据接收到的电流信号控制左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机和右后轮轮毂电机工作。The motor control unit is electrically connected to the left front wheel hub motor, the right front wheel hub motor, the left rear wheel hub motor, the right rear wheel hub motor, and the steering control ECU, and is used to control the left front wheel hub according to the received current signal. The motors, front right hub motor, rear left hub motor and rear right hub motor work.
本实用新型还公开了一种基于该复合转向系统的模式切换方法，包含以下步骤：The utility model also discloses a mode switching method based on the composite steering system, which includes the following steps:
步骤1)，转向控制ECU根据方向盘转角传感器测得的方向盘转角和车速传感器测得的汽车车速信号计算当前汽车横摆角速度；Step 1), the steering control ECU calculates the current vehicle yaw rate according to the steering wheel angle measured by the steering wheel angle sensor and the vehicle speed signal measured by the vehicle speed sensor;
步骤2)，转向控制ECU根据当前横摆角速度、汽车车速、方向盘转角和汽车侧向加速度计算当前转向所需助力以及左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩；Step 2), the steering control ECU calculates the power assist required for the current steering and the left front wheel hub motor, right front wheel hub motor, left rear wheel hub motor, and right rear wheel hub motor according to the current yaw rate, vehicle speed, steering wheel angle and vehicle lateral acceleration The torque of the in-wheel hub motor;
步骤3)，转向控制ECU根据左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩产生相应的电流信号传递给电机控制单元；Step 3), the steering control ECU generates a corresponding current signal according to the torque of the left front wheel hub motor, the right front wheel hub motor, the left rear wheel hub motor, and the right rear wheel hub motor, and transmits it to the motor control unit;
步骤4)，转向控制ECU将计算得到的横摆角速度ωr和预设的汽车极限横摆角速度阈值ωr0比较；将车速传感器测得的汽车车速u分别和预设的汽车低速阈值u1、预设的汽车高速阈值u2比较；将方向盘转角传感器测得的方向盘转角θsw和预设的方向盘转角阈值θsw0比较；将侧向加速度传感器测得的汽车侧向加速度ay和预设的汽车极限侧向加速度阈值ay0比较；Step 4), the steering control ECU compares the calculated yaw rate ω r with the preset limit yaw rate threshold ω r0 of the vehicle; compares the vehicle speed u measured by the vehicle speed sensor with the preset low speed thresholds u 1 , Compare the preset vehicle high-speed threshold u 2 ; compare the steering wheel angle θ sw measured by the steering wheel angle sensor with the preset steering wheel angle threshold θ sw0 ; compare the vehicle lateral acceleration a y measured by the lateral acceleration sensor with the preset Vehicle limit lateral acceleration threshold a y0 comparison;
步骤4.1)，当横摆角速度ωr＞ωr0时；Step 4.1), when the yaw rate ω r >ω r0 ;
步骤4.1.1)，转向控制ECU控制助力电机不工作；Step 4.1.1), the steering control ECU controls the power assist motor not to work;
步骤4.1.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作、并根据接收到的电流信号左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.1.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and reversely works the hub motor of the left rear wheel and the hub motor of the right rear wheel according to the received current signal;
步骤4.2)，当横摆角速度ωr＜ωr0、侧向加速度ay＞ay0时；Step 4.2), when the yaw rate ω r <ω r0 and the lateral acceleration a y >a y0 ;
步骤4.2.1)，转向控制ECU控制助力电机不工作；Step 4.2.1), the steering control ECU controls the power assist motor not to work;
步骤4.2.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.2.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.3)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＜u1、方向盘转角θsw＞θsw0时；Step 4.3), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u<u 1 , steering wheel angle θ sw >θ sw0 ;
步骤4.3.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.3.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.3.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机正向工作；Step 4.3.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work forward according to the received current signal;
步骤4.4)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＜u1、方向盘转角θsw＜θsw0时；Step 4.4), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u<u 1 , steering wheel angle θ sw <θ sw0 ;
步骤4.4.1)，转向控制ECU控制助力电机不工作；Step 4.4.1), the steering control ECU controls the power assist motor not to work;
步骤4.4.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机正向工作；Step 4.4.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work forward according to the received current signal;
步骤4.5)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u1＜u＜u2、方向盘转角θsw＞θsw0时；Step 4.5), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u 1 <u<u 2 , steering wheel angle θ sw >θ sw0 ;
步骤4.5.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.5.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.5.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.5.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.6)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u1＜u＜u2、方向盘转角θsw＜θsw0时；Step 4.6), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u 1 <u<u 2 , steering wheel angle θ sw <θ sw0 ;
步骤4.6.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.6.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.6.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作，并控制左后轮轮毂电机和右后轮轮毂电机不工作；Step 4.6.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward according to the received current signal, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel not to work;
步骤4.7)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＞u2、方向盘转角θsw＞θsw0时；Step 4.7), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u>u 2 , steering wheel angle θ sw >θ sw0 ;
步骤4.7.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.7.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.7.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作，并根据接收到的电流信号控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.7.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.8)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＞u2、方向盘转角θsw＜θsw0时；Step 4.8), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u>u 2 , steering wheel angle θ sw <θ sw0 ;
步骤4.8.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.8.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.8.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作、控制左后轮轮毂电机和右后轮轮毂电机不工作。Step 4.8.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to not work.
作为本实用新型一种复合转向系统的模式切换方法进一步的优化方案，步骤1)中转向控制ECU根据方向盘转角传感器测得的方向盘转角和车速传感器测得的汽车车速信号计算当前汽车横摆角速度的公式如下：As a further optimization scheme of the mode switching method of a kind of composite steering system of the present invention, in step 1), the steering wheel angle measured by the steering wheel angle sensor and the vehicle speed signal measured by the vehicle speed sensor are calculated by the steering control ECU according to the current vehicle yaw rate. The formula is as follows:
式中：a0＝k1k2(a+b)2+(k2b-k1a)mu2；b0＝k1k2(a+b)u；a为质心到前轴轴距；b为质心到后轴轴距；L＝a+b；u为汽车速度；ωr为汽车横摆角速度；θsw为方向盘转角；Ks范围可根据驾驶员喜好选取，该范围为0.12-0.37 1/s；k1、k2为前后轮侧偏刚度；m为整车质量。In the formula: a 0 ＝k 1 k 2 (a+b) 2 +(k 2 bk 1 a)mu 2 ; b 0 ＝k 1 k 2 (a+b)u; a is the wheelbase from the center of mass to the front axle; b is the center of mass to the wheelbase of the rear axle; L=a+b; u is the speed of the vehicle; ω r is the yaw rate of the vehicle; θ sw is the steering wheel angle; ; k 1 , k 2 are the cornering stiffness of the front and rear wheels; m is the mass of the vehicle.
本实用新型采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art by adopting the above technical scheme, the utility model has the following technical effects:
1.在线控四轮转向系统基础上增设电动助力转向系统，能够弥补线控四轮转向系统可靠性差的问题。1. An electric power steering system is added on the basis of the wire-controlled four-wheel steering system, which can make up for the problem of poor reliability of the wire-controlled four-wheel steering system.
2.能够解决在电动助力转向不能提供足够的转向助力的问题。2. It can solve the problem that the electric power steering cannot provide enough power steering.
3.可以根据不同的汽车行驶工况以及驾驶员操作，切换不同转向助力工作模式，提供不同的助力效果。3. According to different driving conditions of the car and the driver's operation, different steering assist working modes can be switched to provide different assist effects.
附图说明Description of drawings
图1为本实用新型复合转向系统结构图；Fig. 1 is the structural diagram of the composite steering system of the present invention;
图2为本实用新型模式切换方法控制流程图。Fig. 2 is a control flow chart of the mode switching method of the present invention.
图中，1-方向盘，2-方向盘转角传感器，3-转向柱，4-减速机构，5-离合器，6-助力电机，7-转向控制ECU，8-车速传感器，9-侧向加速度传感器，10-齿轮齿条转向器，11-前轴，12-左前轮轮毂电机，13-右前轮轮毂电机，14-电机控制单元，15-左后轮轮毂电机，16-右后轮轮毂电机，17-后轴。In the figure, 1-steering wheel, 2-steering wheel angle sensor, 3-steering column, 4-reduction mechanism, 5-clutch, 6-assist motor, 7-steering control ECU, 8-vehicle speed sensor, 9-lateral acceleration sensor, 10-rack and pinion steering gear, 11-front axle, 12-left front wheel hub motor, 13-right front wheel hub motor, 14-motor control unit, 15-left rear wheel hub motor, 16-right rear wheel hub motor , 17 - rear axle.
具体实施方式detailed description
下面结合附图对本实用新型的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, the technical scheme of the utility model is described in further detail:
如图1所示，本实用新型开发了一种复合转向系统，包括电动助力转向系统和线控四轮转向系统；As shown in Figure 1, the utility model has developed a compound steering system, including electric power steering system and wire control four-wheel steering system;
所述电动助力转向系统包含方向盘、方向盘转角传感器、转向柱、减速机构、离合器、助力电机、转向控制ECU、车速传感器、侧向加速度传感器和齿轮齿条转向器；The electric power steering system includes a steering wheel, a steering wheel angle sensor, a steering column, a reduction mechanism, a clutch, a power assist motor, a steering control ECU, a vehicle speed sensor, a lateral acceleration sensor, and a rack and pinion steering gear;
所述线控四轮转向系统包括前轴、左前轮轮毂电机、右前轮轮毂电机、电机控制单元、左后轮轮毂电机、右后轮轮毂电机和后轴；The four-wheel steering system includes a front axle, a left front wheel hub motor, a right front wheel hub motor, a motor control unit, a left rear wheel hub motor, a right rear wheel hub motor and a rear axle;
所述转向柱一端和汽车的方向盘固定相连，另一端通过所述齿轮齿条转向器和所述前轴相连；One end of the steering column is fixedly connected with the steering wheel of the automobile, and the other end is connected with the front axle through the rack and pinion steering gear;
所述方向盘转角传感器安装在转向柱上，用于获取方向盘的转角；The steering wheel angle sensor is installed on the steering column for obtaining the steering wheel angle;
所述助力电机通过离合器与减速机构输入端相连，用于提供转向助力；The booster motor is connected to the input end of the reduction mechanism through a clutch to provide steering booster;
所述减速机构输出端设置在转向柱上；The output end of the reduction mechanism is arranged on the steering column;
所述车速传感器和侧向加速度传感器安装在汽车车身上，分别用于获取汽车车速和汽车侧向加速度；The vehicle speed sensor and the lateral acceleration sensor are installed on the vehicle body and are used to obtain the vehicle speed and the vehicle lateral acceleration respectively;
所述前轴两端分别与汽车的左前轮、右前轮相连；The two ends of the front axle are respectively connected with the left front wheel and the right front wheel of the automobile;
所述左前轮轮毂电机、右前轮轮毂电机分别安装在左前轮、右前轮上，分别用于驱动汽车的左前轮、右前轮；The left front wheel hub motor and the right front wheel hub motor are installed on the left front wheel and the right front wheel respectively, and are respectively used to drive the left front wheel and the right front wheel of the automobile;
所述后轴两端分别与汽车的左后轮、右后轮相连；The two ends of the rear axle are respectively connected with the left rear wheel and the right rear wheel of the automobile;
所述左后轮轮毂电机、右后轮轮毂电机分别安装在左后轮、右后轮上，分别用于驱动汽车的左后轮、右后轮；The left rear wheel hub motor and the right rear wheel hub motor are installed on the left rear wheel and the right rear wheel respectively, and are respectively used to drive the left rear wheel and the right rear wheel of the automobile;
所述转向控制ECU分别和助力电机、方向盘转角传感器、车速传感器、侧向加速度传感器、电机控制单元电气相连，用于方向盘转角传感器、车速传感器、侧向加速度传感器测得的数据控制助力电机工作，计算左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩并产生相应的电流信号传递给所述电机控制单元；The steering control ECU is electrically connected to the power assist motor, the steering wheel angle sensor, the vehicle speed sensor, the lateral acceleration sensor, and the motor control unit, and is used to control the work of the power assist motor based on the data measured by the steering wheel angle sensor, the vehicle speed sensor, and the lateral acceleration sensor. Calculate the torque of the left front wheel hub motor, the right front wheel hub motor, the left rear wheel hub motor, and the right rear wheel hub motor and generate corresponding current signals to transmit to the motor control unit;
所述电机控制单元分别和左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机、转向控制ECU电气相连，用于根据接受到的电流信号控制左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机和右后轮轮毂电机工作。The motor control unit is electrically connected to the hub motor of the left front wheel, the hub motor of the right front wheel, the hub motor of the left rear wheel, the hub motor of the right rear wheel, and the steering control ECU, and is used to control the hub of the left front wheel according to the received current signal. The motors, front right hub motor, rear left hub motor and rear right hub motor work.
如图2所示，本实用新型还公布了一种复合转向系统模式切换方法，包含如下步骤：As shown in Figure 2, the utility model also discloses a compound steering system mode switching method, which includes the following steps:
步骤1)，转向控制ECU根据方向盘转角传感器测得的方向盘转角和车速传感器测得的汽车车速信号计算当前汽车横摆角速度：Step 1), the steering control ECU calculates the current vehicle yaw rate according to the steering wheel angle measured by the steering wheel angle sensor and the vehicle speed signal measured by the vehicle speed sensor:
式中：a0＝k1k2(a+b)2+(k2b-k1a)mu2；b0＝k1k2(a+b)u；a为质心到前轴轴距；b为质心到后轴轴距；L＝a+b；u为汽车速度；ωr为汽车横摆角速度；θsw为方向盘转角；Ks范围可根据驾驶员喜好选取，该范围为0.12-0.37 1/s；k1、k2为前后轮侧偏刚度；m为整车质量。In the formula: a 0 ＝k 1 k 2 (a+b) 2 +(k 2 bk 1 a)mu 2 ; b 0 ＝k 1 k 2 (a+b)u; a is the wheelbase from the center of mass to the front axle; b is the center of mass to the wheelbase of the rear axle; L=a+b; u is the speed of the vehicle; ω r is the yaw rate of the vehicle; θ sw is the steering wheel angle; ; k 1 , k 2 are the cornering stiffness of the front and rear wheels; m is the mass of the vehicle.
步骤2)，转向控制ECU根据当前横摆角速度、汽车车速、方向盘转角和汽车侧向加速度计算当前转向所需助力以及左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩；Step 2), the steering control ECU calculates the power assist required for the current steering and the left front wheel hub motor, right front wheel hub motor, left rear wheel hub motor, and right rear wheel hub motor according to the current yaw rate, vehicle speed, steering wheel angle and vehicle lateral acceleration The torque of the in-wheel hub motor;
步骤3)，转向控制ECU根据左前轮轮毂电机、右前轮轮毂电机、左后轮轮毂电机、右后轮轮毂电机的力矩产生相应的电流信号传递给电机控制单元；Step 3), the steering control ECU generates a corresponding current signal according to the torque of the left front wheel hub motor, the right front wheel hub motor, the left rear wheel hub motor, and the right rear wheel hub motor, and transmits it to the motor control unit;
步骤4)，转向控制ECU将计算得到的横摆角速度ωr和预设的汽车极限横摆角速度阈值ωr0比较；将车速传感器测得的汽车车速u分别和预设的汽车低速阈值u1、预设的汽车高速阈值u2比较；将方向盘转角传感器测得的方向盘转角θsw和预设的方向盘转角阈值θsw0比较；将侧向加速度传感器测得的汽车侧向加速度ay和预设的汽车极限侧向加速度阈值ay0比较；Step 4), the steering control ECU compares the calculated yaw rate ω r with the preset limit yaw rate threshold ω r0 of the vehicle; compares the vehicle speed u measured by the vehicle speed sensor with the preset low speed thresholds u 1 , Compare the preset vehicle high-speed threshold u 2 ; compare the steering wheel angle θ sw measured by the steering wheel angle sensor with the preset steering wheel angle threshold θ sw0 ; compare the vehicle lateral acceleration a y measured by the lateral acceleration sensor with the preset Vehicle limit lateral acceleration threshold a y0 comparison;
步骤4.1)，当横摆角速度ωr＞ωr0时，采用四轮转向模式1：Step 4.1), when the yaw rate ω r >ω r0 , adopt the four-wheel steering mode 1:
步骤4.1.1)，转向控制ECU控制助力电机不工作；Step 4.1.1), the steering control ECU controls the power assist motor not to work;
步骤4.1.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作、并根据接收到的电流信号左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.1.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and reversely works the hub motor of the left rear wheel and the hub motor of the right rear wheel according to the received current signal;
步骤4.2)，当横摆角速度ωr＜ωr0、侧向加速度ay＞ay0时，采用四轮转向模式2：Step 4.2), when the yaw rate ω r <ω r0 and the lateral acceleration a y >a y0 , adopt the four-wheel steering mode 2:
步骤4.2.1)，转向控制ECU控制助力电机不工作；Step 4.2.1), the steering control ECU controls the power assist motor not to work;
步骤4.2.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.2.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.3)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＜u1、方向盘转角θsw＞θsw0时，采用复合转向模式1：Step 4.3), when the yaw rate ω r <ω r0 , the lateral acceleration a y <a y0 , the vehicle speed u<u 1 , and the steering wheel angle θ sw >θ sw0 , the compound steering mode 1 is adopted:
步骤4.3.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.3.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.3.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机正向工作；Step 4.3.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work forward according to the received current signal;
步骤4.4)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＜u1、方向盘转角θsw＜θsw0时，采用四轮转向模式3：Step 4.4), when yaw rate ω r <ω r0 , lateral acceleration a y <a y0 , vehicle speed u<u 1 , steering wheel angle θ sw <θ sw0 , four-wheel steering mode 3 is adopted:
步骤4.4.1)，转向控制ECU控制助力电机不工作；Step 4.4.1), the steering control ECU controls the power assist motor not to work;
步骤4.4.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机正向工作；Step 4.4.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work forward according to the received current signal;
步骤4.5)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u1＜u＜u2、方向盘转角θsw＞θsw0时，采用复合转向模式2：Step 4.5), when the yaw rate ω r <ω r0 , the lateral acceleration a y <a y0 , the vehicle speed u 1 <u<u 2 , and the steering wheel angle θ sw >θ sw0 , the compound steering mode 2 is adopted:
步骤4.5.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.5.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.5.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作、控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.5.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.6)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u1＜u＜u2、方向盘转角θsw＜θsw0时，采用复合转向模式3：Step 4.6), when the yaw rate ω r <ω r0 , the lateral acceleration a y <a y0 , the vehicle speed u 1 <u<u 2 , and the steering wheel angle θ sw <θ sw0 , the compound steering mode 3 is adopted:
步骤4.6.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.6.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.6.2)，电机控制单元根据接收到的电流信号控制左前轮轮毂电机和右前轮轮毂电机正向工作，并控制左后轮轮毂电机和右后轮轮毂电机不工作；Step 4.6.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to work forward according to the received current signal, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel not to work;
步骤4.7)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＞u2、方向盘转角θsw＞θsw0时，采用复合转向模式4：Step 4.7), when the yaw rate ω r <ω r0 , the lateral acceleration a y <a y0 , the vehicle speed u>u 2 , and the steering wheel angle θ sw >θ sw0 , the compound steering mode 4 is adopted:
步骤4.7.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.7.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.7.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作，并根据接收到的电流信号控制左后轮轮毂电机和右后轮轮毂电机反向工作；Step 4.7.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to work in reverse according to the received current signal;
步骤4.8)，当横摆角速度ωr＜ωr0、侧向加速度ay＜ay0、汽车车速u＞u2、方向盘转角θsw＜θsw0时，采用电动助力转向模式：Step 4.8), when the yaw rate ω r <ω r0 , the lateral acceleration a y <a y0 , the vehicle speed u>u 2 , and the steering wheel angle θ sw <θ sw0 , the electric power steering mode is adopted:
步骤4.8.1)，转向控制ECU根据当前转向所需助力控制助力电机正向工作；Step 4.8.1), the steering control ECU controls the power assist motor to work forward according to the current steering power required;
步骤4.8.2)，电机控制单元控制左前轮轮毂电机和右前轮轮毂电机不工作、控制左后轮轮毂电机和右后轮轮毂电机不工作。Step 4.8.2), the motor control unit controls the hub motor of the left front wheel and the hub motor of the right front wheel to not work, and controls the hub motor of the left rear wheel and the hub motor of the right rear wheel to not work.
式中：ωr0优先采用汽车稳定工况下极限横摆角速度；ay0优先采用汽车稳定工况下极限侧向加速度。In the formula: ω r0 is given priority to the limit yaw rate under the stable condition of the vehicle; a y0 is given priority to the limit lateral acceleration under the stable condition of the vehicle.
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本实用新型所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as commonly understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, are not to be interpreted in an idealized or overly formal sense Explanation.
以上所述的具体实施方式，对本实用新型的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本实用新型的具体实施方式而已，并不用于限制本实用新型，凡在本实用新型的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present utility model in detail. For the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.
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| CN106945719A (en) * | 2017-01-16 | 2017-07-14 | 南京航空航天大学 | A kind of composite turning system and its mode switching method |
| CN108657270A (en) * | 2018-06-11 | 2018-10-16 | 南京航空航天大学 | A kind of vehicle wire-controlled steering system, fault tolerant control method and method for diagnosing faults |
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| CN106945719A (en) * | 2017-01-16 | 2017-07-14 | 南京航空航天大学 | A kind of composite turning system and its mode switching method |
| CN108657270A (en) * | 2018-06-11 | 2018-10-16 | 南京航空航天大学 | A kind of vehicle wire-controlled steering system, fault tolerant control method and method for diagnosing faults |
| CN108657270B (en) * | 2018-06-11 | 2023-08-15 | 南京航空航天大学 | A vehicle steering-by-wire system, a fault-tolerant control method, and a fault diagnosis method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171003 |