CN206589958U - A kind of active composite turning system and torque control unit - Google Patents
A kind of active composite turning system and torque control unit Download PDFInfo
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- CN206589958U CN206589958U CN201621251642.XU CN201621251642U CN206589958U CN 206589958 U CN206589958 U CN 206589958U CN 201621251642 U CN201621251642 U CN 201621251642U CN 206589958 U CN206589958 U CN 206589958U
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- steering
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- gear
- assist motor
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Abstract
The utility model discloses a kind of active composite turning system and torque control unit, wherein, corner correcting module in active composite turning system provides additional rotation angle by mechanisms such as planetary gears, steering motors to mechanical steering gear, realizes the variable ratio control of steering；Power steering module exports power-assisted according to vehicle working condition by electric boosted executing agency, hydraulic booster executing agency to mechanical steering gear.The utility model realizes the good robustness of active composite turning system and power-assisted tracking performance.
Description
Technical field
The utility model is related to automobile assisted power steering system control technology field, refers specifically to for a kind of active composite turning system
System and torque control unit.
Background technology
Using the conventional steering system of fixed drive ratio, easily there is heavy, lower ovdersteering of high speed of steering wheel under low speed etc.
Dangerous working condition, the strong influence control stability of automobile.In recent years, active front wheel steering（AFS）System has obtained the country
The extensive concern of outer experts and scholars, in addition to traditional power steering function, active front steering system can be defeated in driver
Active additional rotation angle is applied to steering on the basis of entering, so as to realize the work(such as variable ratio and steering engagement stability control
Energy.
BMW has developed jointly a kind of mechanical active front steering system with ZF companies, and has successfully been equipped on BMW
3 be with 5 family cars.The system turns on the basis of traditional electric hydraulic power-assisted steering system in steering wheel and rack-and-pinion
Mechanism of a set of dual planetary gear system is mounted with to the steering column between device, drives double planetary gear unit to realize by servomotor
Steering angle overlaying function,
ZF company and Bosch companies have developed a kind of active front steering system cooperatively, what it can be inputted in steering wheel
On the basis of realize active control to vehicle front corner.Its active steering function is by a set of electromechanical corner executing agency come real
Existing, the mechanism is made up of harmonic gear with servomotor, can be installed in traditional electric boosted or electric hydraulic power-assisted steering
On the recirculating ball-type steering of system, it can also be selectively mounted on rack and pinion steering gear.
The automobile of the hydraulic power-assist steering system of existing use can provide larger power-assisted under speed operation, mitigate and drive
Member bears when turning to；But steering response is poor under high-speed working condition, and control stability has problem；Electric boosting steering system by
Controller, assist motor, reducing gear, steering wheel and sensor assembly etc. are constituted, and controller receives what sensor assembly was measured
Steering-wheel torque signal and GES are simultaneously handled, and controlled motor exports power-assisted according to pre-determined assist characteristic and turned
Square.But influenceed by electrical characteristics such as itself automobile battery tensions, the maximum power-assisted square that it is exported is smaller, is unsatisfactory for motorbus
Deng the demand of vehicle.
Therefore, electric boosted module is merged in hydraulic power-assist steering system, steering when vehicle low speed can be achieved is light
Good road feel when property and high speed；Variable gear ratio function is realized, active steering intervention can be carried out, the manipulation for realizing automobile is steady
Qualitative organically blending with driver comfort, is a kind of preferable steering, has broad application prospects.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of this utility model is to provide a kind of active composite turning system
And torque control unit, to solve in the prior art, steering gearratio is fixed, hydraulic power-assist steering system is in high-speed working condition
Lower steering response, the problems such as power-assisted adjustability is poor.
To reach above-mentioned purpose, a kind of active composite turning system of the present utility model, the system includes：Steering wheel, turn
To axle, sensor assembly, planetary gearsets, recirculating ball-type steering, pitman arm, steering drag link, knuckle arm, steering ladder
Shape arm, track rod, wheel, electronic control unit, corner correcting module, power steering module；
Described steering wheel connects the moment input end of steering spindle, sensor assembly be placed in steering spindle torque output end and
Between planetary gearsets input, and it is connected with electronic control unit, corner correcting module provides amendment to planetary gearsets
Torque, resultant moment through planetary gearsets output end, recirculating ball-type steering, pitman arm, steering drag link, knuckle arm, turn
Exported to tie rod arm, track rod to wheel, power steering module provides power steering square to ball-and-nut steering gear；
Described corner correcting module includes：Steering motor, the first reducing gear, electric pushrod, three are sequentially connected；Electricity
Sub-control unit is controlled by motor control signal b to steering motor, and power-assisted square slows down through the first reducing gear after increasing square
Electric pushrod is passed to, to planetary gearsets lower ring gear；
Described power steering module includes：Assist motor A, the second reducing gear, assist motor B, power-assisted oil pump, oil storage
Tank, rotary valve, servohydraulic cylinder, power-assisted coupler；Wherein, assist motor A, the second reducing gear are connected and constitute electric boosted
Module, electronic control unit is controlled by assist motor control signal c to assist motor A, and power-assisted square is through the second reductor
Structure deceleration passes to power-assisted coupler after increasing square；Assist motor B, power-assisted oil pump, rotary valve, servohydraulic cylinder are sequentially connected, power-assisted
Oil pump is connected with oil storage tank, and above-mentioned five part constitutes hydraulic booster module, and electronic control unit passes through assist motor control signal d
Assist motor B is controlled, power-assisted fluid is pumped into servohydraulic cylinder, power-assisted oil by driving power-assisted oil pump from oil storage tank through rotary valve
Liquid flows into servohydraulic cylinder both sides by rotary valve aperture difference, and pressure difference is formed at servohydraulic cylinder two ends, produces power-assisted, power-assisted square
Power-assisted coupler is passed to, resultant moment is transferred to recirculating ball-type steering by power-assisted coupler.
Preferably, described planetary gearsets are made up of dual planetary gear system, and wherein steering spindle is connected with input sun gear,
Torque is connected through inputting sun gear, planetary gear, planet carrier, gear ring to output sun gear with the recirculating ball-type steering of lower section.
Preferably, described assist motor A, assist motor B and steering motor use brshless DC motor.
Preferably, first, second described reducing gear uses worm-and-wheel gear.
Preferably, described power-assisted oil pump uses double-acting vane pump.
Preferably, the sensor module includes torque sensor, vehicle speed sensor.
A kind of torque control unit of active composite turning system of the present utility model, it includes：Controller A, controller
B, message processing module, signal comparison module；
Described controller A is the master controller of active composite turning system, based on robust Mixed Sensitivity control theory
It is designed；Described controller B is remaining controller, including PID regulator, fuzzy reasoning module, differentiation element and steering
System model G constitutes closed-loop system；
Described message processing module receives GES, angular signal, the steering-wheel torque letter that sensor assembly is measured
Number, and signal is judged, it is connected respectively with controller A, controller B and output control signal；Controller A, controller B
It is connected respectively with signal comparison module and solve output control electric current to signal comparison module, signal according to input signal
Comparison module analyzed controller A, B output error, and to the steering motor of corner correcting module, power steering module
Assist motor A, assist motor B output control electric currents, driving respective execution mechanisms work, and executing agency's power-assisted is exported to helping
Mechanical couple, power-assisted coupler exports coupled power-assisted to mechanical steering structure.
The beneficial effects of the utility model：
Variable ratio control is carried out to steering by steering motor, planetary gears, helped so as to be combined in electric-liquid
The function of active steering is realized on the basis that power is turned to, by active steering intervention by the economy of automobile assisted power steering and spirit
Activity is combined；
Consider the influence to electric-liquid composite turning system such as speed, steering wheel rotating speed, different conditions are in vehicle
When, master controller output result is carried out using remaining controller adaptive judgement and to correct, take into account system robust performance and
The dynamic property of system, effectively suppresses Excitation of Random Road Surface, the measurement noise of sensor assembly, model parameter uncertain caused
Various interference and noise, improve steering wheel torque control precision, improve the control stability of vehicle drive, realize automobile
Ease of steering and steering response are perfectly combined, therefore with wide market application foreground.
Brief description of the drawings
Fig. 1 illustrates the structural principle block diagram of the utility model active composite turning system；
Fig. 2 illustrates the torque control unit theory diagram of the utility model active composite turning system.
Embodiment
For the ease of the understanding of those skilled in the art, further is made to the utility model with reference to embodiment and accompanying drawing
Explanation, the content that embodiment is referred to not to it is of the present utility model limit.
Shown in reference picture 1, a kind of active composite turning system of the present utility model, the system includes：
Steering wheel 1, steering spindle 2, sensor assembly 3, planetary gearsets 4, recirculating ball-type steering 5, pitman arm 6, steering drag link
7th, knuckle arm 8, steering trapezoidal arm 9, track rod 10, wheel 11, electronic control unit（ECU）12nd, corner correcting module,
Power steering module；
Described steering wheel 1 connects the moment input end of steering spindle 2, and sensor assembly 3 is placed in steering wheel 1 and steering spindle 2
Between, and be connected with electronic control unit 12, the torque output end of steering spindle 2 is connected with the input of planetary gearsets 4, turns
Angle correcting module to planetary gearsets 4 provide amendment torque, resultant moment through planetary gearsets output end, recirculating ball-type steering 5,
Pitman arm 6, steering drag link 7, knuckle arm 8, steering trapezoidal arm 9, track rod 10 are exported to wheel 11, power steering
Module provides power steering square to ball-and-nut steering gear 5；
Torque sensor in described sensor assembly 3 is the contactless shaft type based on wireless power, wirelessly exported
Torque sensor, compared with to potential difference sensor assembly, sliding ring type sensor assembly, overcomes and is not easy to low speed measurement, volume
Huge the problems such as, and can not be for a long time the problem of continuously measure；Sensor assembly is believed to the output measurement of electronic control unit 12
Number a.
Described planetary gearsets 4 are made up of dual planetary gear system, and wherein steering spindle is connected with input sun gear, torque warp
Sun gear, planetary gear, planet carrier, gear ring are inputted to output sun gear, the recirculating ball-type steering of lower section is transmitted torque to.
Described corner correcting module includes：Steering motor 13, the first reducing gear 14, electric pushrod 15；Electronic Control
Unit 12 is controlled by motor control signal b to steering motor 13, and power-assisted square slows down through the first reducing gear 14 after increasing square
Electric pushrod 15 is passed to, to planetary gearsets lower ring gear, variable ratio control is realized.
Described power steering module includes：Assist motor A16, the second reducing gear 17, assist motor B18, power-assisted oil
Pump 19, oil storage tank 20, rotary valve 21, servohydraulic cylinder 22, power-assisted coupler 23；Wherein, assist motor A16, the second reducing gear
17 are connected and constitute electric boosted module, and electronic control unit 12 is carried out by assist motor control signal c to assist motor A
Control, power-assisted square passes to power-assisted coupler 23 after increasing square through the deceleration of the second reducing gear；Assist motor B, power-assisted oil pump, turn
Valve, servohydraulic cylinder are sequentially connected, and power-assisted oil pump is connected with oil storage tank, and above-mentioned five part constitutes hydraulic booster module, electronics control
Unit 12 processed is controlled by assist motor control signal d to assist motor B, and driving power-assisted oil pump is by power-assisted fluid from oil storage
Tank 20 is pumped into servohydraulic cylinder through rotary valve 21, and power-assisted fluid flows into servohydraulic cylinder both sides by the aperture of rotary valve 21 difference, in liquid
Servo-cylinder two ends are pressed to form pressure difference, so as to produce power-assisted, power-assisted square passes to power-assisted coupler, power-assisted coupler is by two groups of power-assisteds
Executing agency inputs and power carries out coupled operational, and resultant moment is transferred to recirculating ball-type steering by power-assisted coupler, is realized and is turned
To power-assisted.
Wherein, described assist motor A, assist motor B and steering motor use brshless DC motor.
Wherein, first, second described reducing gear uses worm-and-wheel gear.
Wherein, described power-assisted oil pump uses double-acting vane pump.
The electronic control unit 12 is by part groups such as CPU, Signal acquiring and processing circuit, drive circuit, observation circuits
Into wherein CPU is 8 or 16 single-chip microcomputers.
Shown in reference picture 2, a kind of torque control unit of active composite turning system of the present utility model, it includes：Control
Device A processed, controller B, message processing module, signal comparison module；
Described controller A is the master controller of active composite turning system, based on robust Mixed Sensitivity control theory
It is designed, the echo signal computing module in the vehicle working condition signal b input controllers A of filtered processing, computing controller A
Object function, robust mixed Sensitivity controller and steering model G (S) constitute closed-loop system, and echo signal calculates mould
Block operation result e, controller A output f are as the input of closed-loop system, and the signal c is controller A exogenous disturbances, warp
Weighting block WWClosed-loop system, the computing controller A control electric current that should be exported are delivered to after weighting processing, and output result is extremely
Signal comparison module；
Described controller B is remaining controller, based on Fuzzy Self-adaptive PID algorithm, including PID regulator,
Fuzzy reasoning module, differentiation element and steering model G constitute closed-loop system, and the change of input signal is obtained by differentiation element
Rate, fuzzy reasoning module passes through the control parameter K of input signal and its rate of change to PID regulatorp、Ki、KdCarry out adaptive
Adjust, controller B output is referred to as the amendment of master controller；Car according to the filtered processing of input of message processing module
Working condition signal d and control logic, amendment reference is provided to master controller A, is occurred with the control result for avoiding master controller tight
Weight error, realizes the good robustness of system and tracing property；
Described message processing module receives GES, angular signal, the steering-wheel torque letter that sensor assembly is measured
Number, and signal is judged, the measured value a inputted according to sensor assembly, respectively to controller A, controller B output controls
Vehicle working condition signal b, interference signal c, vehicle working condition signal d；Controller A, controller B are connected with signal comparison module respectively
And solve output control electric current to signal comparison module according to input signal, signal comparison module is exported to controller A, B
Error is analyzed, and is exported to the steering motor of corner correcting module, the assist motor A of power steering module, assist motor B
Control electric current, driving respective execution mechanisms work, and executing agency's power-assisted is exported to power-assisted coupler, power-assisted coupler will be through
The power-assisted of coupling is exported to mechanical steering structure, realizes electronic-controlled power steering.
The utility model concrete application approach is a lot, and described above is only preferred embodiment of the present utility model, should
Point out, for those skilled in the art, on the premise of the utility model principle is not departed from, can also make
Go out some improvement, these improvement also should be regarded as protection domain of the present utility model.
Claims (6)
1. a kind of active composite turning system, it is characterised in that the system includes：Steering wheel, steering spindle, sensor assembly, OK
Star gear train, recirculating ball-type steering, pitman arm, steering drag link, knuckle arm, steering trapezoidal arm, track rod, car
Wheel, electronic control unit, corner correcting module, power steering module；
Described steering wheel connects the moment input end of steering spindle, and sensor assembly is placed in the torque output end and planet of steering spindle
Between gear train input, and it is connected with electronic control unit, corner correcting module provides amendment torque to planetary gearsets,
Resultant moment is through planetary gearsets output end, recirculating ball-type steering, pitman arm, steering drag link, knuckle arm, steering trapezium
Arm, track rod are exported to wheel, and power steering module provides power steering square to ball-and-nut steering gear；
Described corner correcting module includes：Steering motor, the first reducing gear, electric pushrod, three are sequentially connected；Electronics control
Unit processed is controlled by motor control signal b to steering motor, and power-assisted square is transmitted after increasing square through the deceleration of the first reducing gear
To electric pushrod, to planetary gearsets lower ring gear；
Described power steering module includes：Assist motor A, the second reducing gear, assist motor B, power-assisted oil pump, oil storage tank,
Rotary valve, servohydraulic cylinder, power-assisted coupler；Wherein, assist motor A, the second reducing gear are connected and constitute electric boosted mould
Block, electronic control unit is controlled by assist motor control signal c to assist motor A, and power-assisted square is through the second reducing gear
Slow down and pass to power-assisted coupler after increasing square；Assist motor B, power-assisted oil pump, rotary valve, servohydraulic cylinder are sequentially connected, power-assisted oil
Pump is connected with oil storage tank, and above-mentioned five part constitutes hydraulic booster module, and electronic control unit passes through d pairs of assist motor control signal
Assist motor B is controlled, and power-assisted fluid is pumped into servohydraulic cylinder, power-assisted fluid by driving power-assisted oil pump from oil storage tank through rotary valve
Servohydraulic cylinder both sides are flowed into by rotary valve aperture difference, pressure difference is formed at servohydraulic cylinder two ends, power-assisted is produced, power-assisted square is passed
Power-assisted coupler is passed, resultant moment is transferred to recirculating ball-type steering by power-assisted coupler.
2. active composite turning system according to claim 1, it is characterised in that described planetary gearsets are by double-planet
Gear train is constituted, and wherein steering spindle is connected with input sun gear, and torque is through input sun gear, planetary gear, planet carrier, gear ring to defeated
Sunny wheel, is connected with the recirculating ball-type steering of lower section.
3. active composite turning system according to claim 1, it is characterised in that described assist motor A, assist motor
B and steering motor use brshless DC motor.
4. active composite turning system according to claim 1, it is characterised in that first, second described reducing gear
Using worm-and-wheel gear.
5. active composite turning system according to claim 1, it is characterised in that described power-assisted oil pump uses double acting
Vane pump.
6. active composite turning system according to claim 1, it is characterised in that the sensor module is passed including moment of torsion
Sensor, vehicle speed sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621251642.XU CN206589958U (en) | 2016-11-15 | 2016-11-15 | A kind of active composite turning system and torque control unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621251642.XU CN206589958U (en) | 2016-11-15 | 2016-11-15 | A kind of active composite turning system and torque control unit |
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| CN206589958U true CN206589958U (en) | 2017-10-27 |
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| CN201621251642.XU Expired - Fee Related CN206589958U (en) | 2016-11-15 | 2016-11-15 | A kind of active composite turning system and torque control unit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428204A (en) * | 2016-11-15 | 2017-02-22 | 南京航空航天大学 | Driving combined steering system, torque control device and torque control method |
| CN110294014A (en) * | 2019-07-25 | 2019-10-01 | 农业农村部南京农业机械化研究所 | A kind of hydraulic steering system and its working method of self-correction |
| CN110435754A (en) * | 2019-08-06 | 2019-11-12 | 南京航空航天大学 | A kind of the man-machine of electric-hydraulic combined steering system drives mode-changeover device and method altogether |
-
2016
- 2016-11-15 CN CN201621251642.XU patent/CN206589958U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428204A (en) * | 2016-11-15 | 2017-02-22 | 南京航空航天大学 | Driving combined steering system, torque control device and torque control method |
| CN106428204B (en) * | 2016-11-15 | 2018-11-09 | 南京航空航天大学 | A kind of active composite turning system, torque control unit and method for controlling torque |
| CN110294014A (en) * | 2019-07-25 | 2019-10-01 | 农业农村部南京农业机械化研究所 | A kind of hydraulic steering system and its working method of self-correction |
| CN110435754A (en) * | 2019-08-06 | 2019-11-12 | 南京航空航天大学 | A kind of the man-machine of electric-hydraulic combined steering system drives mode-changeover device and method altogether |
| CN110435754B (en) * | 2019-08-06 | 2021-10-01 | 南京航空航天大学 | Man-machine common driving mode switching device and method of electro-hydraulic composite steering system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20211115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |