CN206589959U - A kind of multi-mode composite turning genealogical classification controller - Google Patents
A kind of multi-mode composite turning genealogical classification controller Download PDFInfo
- Publication number
- CN206589959U CN206589959U CN201621354202.7U CN201621354202U CN206589959U CN 206589959 U CN206589959 U CN 206589959U CN 201621354202 U CN201621354202 U CN 201621354202U CN 206589959 U CN206589959 U CN 206589959U
- Authority
- CN
- China
- Prior art keywords
- pattern
- steering
- mode
- classifier
- assisted
- Prior art date
- 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.)
- Withdrawn - After Issue
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 27
- 238000000605 extraction Methods 0.000 claims abstract description 11
- 238000007781 pre-processing Methods 0.000 claims description 15
- 150000001875 compounds Chemical class 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 13
- 238000005265 energy consumption Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model discloses a kind of multi-mode composite turning genealogical classification controller, the signal inputted by operating mode feature extraction module to sensor assembly carries out Treatment Analysis, sets up classification function, calculates the value for obtaining classification function under current working.The steering pattern of steering is divided into by Mode A, Mode B, pattern C by pattern classifier I；It is pattern D, pattern E to be divided pattern C by pattern classifier II, pattern classification controller is to corresponding power-assisted module executing agency output control electric current, drive electric boosted executing agency, hydraulic booster executing agency output power-assisted, the function of system multi-steering Schema control is realized, the problem of force aid system assist characteristic adjustability for solving the coupling of automobile-used multi-operation mode hydraulic pressure mechanical electronic hydraulic is poor, the pattern switching speed of response is slower.
Description
Technical field
The utility model is related to automobile assisted power steering system control technology field, refers specifically to for a kind of multi-mode composite turning
Genealogical classification controller.
Background technology
At present, the hydraulic power-assist steering system that existing automobile is used both at home and abroad can provide larger help under automobile speed operation
Power, mitigates burden when driver turns to；But steering response is poor under high-speed working condition, and control stability has problem；It is electronic to help
Power steering is made up of controller, assist motor, reducing gear steering-wheel torque sensor and vehicle speed sensor etc., control
Device receives the steering-wheel torque signal that measures of sensor and GES and handled, and controlled motor is helped according to pre-determined
Force characteristic exports power torque.But influenceed by electrical characteristics such as itself automobile battery tensions, its export maximum power-assisted square compared with
It is small, it is unsatisfactory for the demand of the vehicles such as motorbus.Ideally, steering should export larger when automobile is run at a low speed
Power-assisted, to mitigate driver's burden, realizes good ease of steering；Less power-assisted should be exported in high speed, traveling is ensured
Safety, obtains good steering response.
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.
But multi-mode composite turning system is in the course of the work, exist when vehicle is in critical operating mode, system turns to mould
Formula judges occur switching " dead band " in fuzzy, mode handover procedure, and steering power-assisted in mode handover procedure is performed
Mechanism response be present, it is therefore desirable to design corresponding controllers, to solve the multi-mode system work of mechanical electronic hydraulic coupling
The problem of operation mode switches.
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 multi-mode composite turning system
Unite separation controller, with the pattern switching for the multi-operation mode system for solving the problems, such as mechanical electronic hydraulic coupling, in the prior art steering system
System gearratio is fixed, hydraulic power-assist steering system steering response under high-speed working condition is poor, the problems such as control stability is poor.
To reach above-mentioned purpose, a kind of multi-mode composite turning genealogical classification controller of the present utility model, including：Sensing
Device module, information pre-processing module, operating mode feature extraction module, pattern classifier I, pattern classifier II, each part mentioned above according to
Secondary connection, wherein,
The work information collected is transferred to information pre-processing module by described sensor assembly；
Described information pre-processing module transmits processing result information to operating mode feature extraction module；
Described operating mode feature extraction module is by the operating mode feature function passes of obtained Current vehicle to pattern classifier I
Carry out sort operation；Described pattern classifier I be first class mode grader, and by system steering pattern be divided into steering pattern A,
Steering pattern B, steering pattern C, corresponding category signal is exported to pattern classifier II；The steering pattern A, steering pattern B,
Steering pattern C is respectively electric boosted pattern, hydraulic booster pattern, compound assistant mode；
Described pattern classifier II is composite mode grader, according to composite mode sorting algorithm by the compound die of system
Formula is divided into steering pattern D, steering pattern E；The steering pattern D, steering pattern E are respectively pivot stud pattern, urgent collision avoidance
Pattern.
Preferably, the work information that above-mentioned sensor assembly is collected includes：GES, steering wheel angle signal,
Dtc signal and each motor speed signal.
The beneficial effects of the utility model：
The utility model is based on power-assisted actuation mechanism output power-assisted size, the relation of operating power consumption, it is proposed that vehicle is current
Operating mode feature function；Classification control is carried out to steering pattern according to vehicle working condition by pattern classifier I, pattern classifier II,
The function of the multi-steering pattern of system is realized, matching for vehicle mode and operating mode is realized, so as to improve the steering of system
Economy and ease of steering, improve steering wheel torque control precision, therefore with wide market application foreground.
Brief description of the drawings
Fig. 1 illustrates the mechanical construction drawing of multi-mode composite turning system；
Fig. 2 illustrates multi-mode composite turning genealogical classification controller principle block diagram；
Fig. 3 illustrates multi-mode composite turning genealogical classification controller policy logic flow chart.
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 multi-mode active front steering system, including：Steering wheel 1, sensor assembly 2, steering column 3,
Planetary gearsets 4, steering gear 7, electronic control unit (ECU) 12, pitman arm 17, servomotor C14, electric pushrod, first
Reducing gear 13, servomotor A6, the second reducing gear 5, servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8, hydraulic pressure are helped
Power cylinder 15 and power-assisted coupler 16；
Described steering wheel 1 connects the moment input end of steering column 3, and sensor assembly 2 is placed in steering wheel 1 and steering column 3
Between, and be connected with electronic control unit (ECU) 12, torque output end and the input phase of planetary gearsets 4 of steering column 3
Even, corner correcting module provides amendment torque by the lower ring gear in planetary gearsets 4 to steering, and steering moment is through planet
The output end of gear train 4, steering gear 7, output to pitman arm 17, power steering module provide steering to ball-and-nut steering gear 7 and helped
Torque.Electronic control unit (ECU) 12 is by Serve Motor Control signal b to servomotor C14 and the first reducing gear 13, electricity
Dynamic push rod is controlled, power-assisted square slows down through the first reducing gear 13 increase square after pass to electric pushrod, to planetary gearsets 4
Lower ring gear, realizes variable ratio corner Correction and Control；Servomotor A6, the second reducing gear 5 constitutes electric boosted module, electronics
Control unit (ECU) 12 is controlled by Serve Motor Control signal c to servomotor A6, and power-assisted square is through the second reducing gear
5 decelerations pass to power-assisted coupler 16 after increasing square；Servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8, servohydraulic cylinder 15
Hydraulic booster module is constituted, electronic control unit (ECU) 12 is entered by Serve Motor Control signal d to power-assisted servo motor B 10
Power-assisted fluid is pumped into servohydraulic cylinder 15 by row control, driving hydraulic pump 9 from oil storage tank 11 through rotary valve 8, in servohydraulic cylinder 15
Two ends form pressure difference, so as to produce power-assisted, power-assisted square passes to power-assisted coupler 16, and resultant moment is transferred to by power-assisted coupler 16
Pitman arm 17.
Shown in reference picture 2, a kind of multi-mode composite turning genealogical classification controller of the present utility model, the base in embodiment
In above-mentioned multi-mode active front steering system, including：Sensor assembly, information pre-processing module, operating mode feature extraction module, pattern
Grader I, pattern classifier II, each part mentioned above is sequentially connected, wherein,
The work information collected is transferred to information pre-processing module by described sensor assembly；
Described information pre-processing module exports steering wheel angle signal θ to operating mode feature extraction modules, side acceleration
Signal ay, front wheel angle signal δf, longitudinal GES v, front-wheel kingpin inclination signal beta, caster signal γ,
Controller current signal IA, power-assisted pump speed signal ω, steering rack displacement signal xr, servomotor A, B tach signal θm1、
θm2。
Described operating mode feature extraction module extracts the signal of information pre-processing module output, obtains the operating mode of Current vehicle
Characteristic function, and characteristic function is transferred to pattern classifier I carries out sort operation；Described pattern classifier I is one-level mould
Formula grader, and system steering pattern is divided into steering pattern A, steering pattern B, steering pattern C, and corresponding category signal is defeated
Go out to pattern classifier II；The steering pattern A, steering pattern B, steering pattern C are respectively electric boosted pattern, hydraulic booster
Pattern, compound assistant mode；
Described pattern classifier II is composite mode grader, according to composite mode sorting algorithm by the compound die of system
Formula is divided into steering pattern D, steering pattern E；The steering pattern D, steering pattern E are respectively pivot stud pattern, urgent collision avoidance
Pattern.
Each pattern actuator is respectively according to pattern classifier I, the result of calculation of pattern classifier II, output electric signal to execution
Electric operator, the hydraulic actuating mechanism of mechanism module, driving respective execution mechanisms output power-assisted is away from realizing electronic-controlled power steering.
Wherein, the work information that above-mentioned sensor assembly is collected includes：GES, steering wheel angle signal, turn
Square signal and each motor speed signal.
Wherein, above- mentioned information pretreatment module includes：Corner information pretreatment module, side acceleration information pre-processing mould
Block, steering-wheel torque information pre-processing module, speed information pretreatment module, the torque letter collected respectively to sensor assembly
Number etc. be filtered processing, and yaw rate signal is obtained by parameter Estimation.
Shown in reference picture 3, multi-mode composite turning genealogical classification controller strategic process of the present utility model is as follows：
1) sensor assembly collection work information, and each signal output collected to information pre-processing module is carried out
Filtering process；
2) process signal is transferred to operating mode feature extraction module by information pre-processing module, defines different operating mode steering forces
Square, steering energy consumption function, obtain the preferable steering moment of indexIdeal turns to energy consumptionExpression formula is as follows：
In formula：θsFor steering wheel angle；θm1、θm2Respectively servomotor A, B rotating speeds；V is speed；ω is that power-assisted oil pump turns
Speed；IAFor controller electric current；xrFor steering rack displacement；B is stub knuckle offset distance；β is front-wheel kingpin inclination；R is tire
Radius；R is radius of turn；γ is caster；η1For steering system main story efficiency of movement；D is steering wheel diameter；iωTo turn
To being angular gear ratio；F1To be fully loaded with front axle load；CFrCompare coefficient of friction for speed；CFr2For fast ratio square coefficient of friction；PsFor boost pump
Output pressure；Q is power-assisted pumpage；ρ is power-assisted fluid density；QsFor oil pump flow；ApFor the effective area of hydraulic cylinder piston；
CqFor discharge coefficient；AiFor the orifice size of i-th of valve port；
3) output result of the pattern classifier I based on information pre-processing module, including power steering module output torque are big
The power consumption values of deviation and power-assisted module between small and preferable steering moment, based on first class mode sorting algorithm to steering mould
Formula, which is divided, to be judged：
The first class mode sorting algorithm is：Steering is under the operating mode of single power-assisted actuation mechanism work, works as power-assisted
Mechanism actually available steering moment be more than identical operating mode under preferable steering moment when, continue it is defeated by single power-assisted actuation mechanism
Go out power steering；When the steering moment of the actual offer of servomechanism is less than the preferable steering moment under identical operating mode, electronics control
Unit processed enters composite turning to corresponding servomotor output control electric current, driving respective execution mechanisms work, steering
Pattern, and electronic control unit expires system by controlling two servomechanisms of servomotor current limit to export power-assisted ratio
It is interval in ideal energy consumption that sufficient constraints turns to energy consumptionIt is interior；
Composite turning mode computation formula is as follows：
4) when the steering pattern that the calculating of pattern classifier I is obtained is composite turning pattern, the output letter of pattern classifier I
Number to pattern classifier II, pattern classifier II is calculated based on composite mode sorting algorithm, and the composite mode classification is calculated
Method is：Actual steering power-assisted actuation mechanism energy consumption minimum value is calculated, to determine hydraulic actuating mechanism, both electric operators ginseng
With the proportionate relationship of power-assisted, and the preferable steering moment area for calculating obtained actual offer steering moment under identical operating mode is limited
BetweenIt is interior, prevent because restriction system turns to energy consumption, so as to cause servomechanism to export, power-assisted is too small, and influence drives
Comfortableness, control stability, composite turning ratio determining type are as follows：
Define the Proportional coefficient K under assistant mode CE, assistant mode Proportional coefficient KERepresent steering in compound power-assisted mould
Under formula, electric boosted module provides power-assisted and accounts for the percentage that steering provides total power-assisted ideal value, by power-assisted mould
Formula Proportional coefficient KEIt is controlled, assistant mode is divided into assistant mode D, assistant mode E, respectively pivot stud pattern, tight
Anxious collision avoidance pattern；So as to realize the steering economy and ease of steering of steering, its expression formula is：
5) pattern actuator A, pattern actuator B, pattern actuator D, pattern actuator E respectively according to pattern classifier I,
The result of calculation of pattern classifier II, electric operator, hydraulic actuating mechanism of the output electric signal to actuator module, driving
Respective execution mechanisms export power-assisted away from realizing 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 (2)
1. a kind of multi-mode composite turning genealogical classification controller, it is characterised in that including：Sensor assembly, information pre-processing
Module, operating mode feature extraction module, pattern classifier I, pattern classifier II, each part mentioned above is sequentially connected, wherein,
The work information collected is transferred to information pre-processing module by described sensor assembly；
Described information pre-processing module transmits processing result information to operating mode feature extraction module；
Described operating mode feature extraction module is by the operating mode feature function passes of obtained Current vehicle to the progress of pattern classifier I
Sort operation；Described pattern classifier I is first class mode grader, and system steering pattern is divided into steering pattern A, steering
Mode B, steering pattern C, corresponding category signal is exported to pattern classifier II；The steering pattern A, steering pattern B, steering
Pattern C is respectively electric boosted pattern, hydraulic booster pattern, compound assistant mode；
Described pattern classifier II is composite mode grader, divides the composite mode of system according to composite mode sorting algorithm
For steering pattern D, steering pattern E；The steering pattern D, steering pattern E are respectively pivot stud pattern, urgent collision avoidance pattern.
2. multi-mode composite turning genealogical classification controller according to claim 1, it is characterised in that above-mentioned sensor
The work information that module is collected includes：GES, steering wheel angle signal, dtc signal and each motor speed letter
Number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621354202.7U CN206589959U (en) | 2016-12-12 | 2016-12-12 | A kind of multi-mode composite turning genealogical classification controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621354202.7U CN206589959U (en) | 2016-12-12 | 2016-12-12 | A kind of multi-mode composite turning genealogical classification controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206589959U true CN206589959U (en) | 2017-10-27 |
Family
ID=60131476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621354202.7U Withdrawn - After Issue CN206589959U (en) | 2016-12-12 | 2016-12-12 | A kind of multi-mode composite turning genealogical classification controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206589959U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585714A (en) * | 2016-12-12 | 2017-04-26 | 南京航空航天大学 | Classification controller of multi-mode composite steering system and control method thereof |
| CN107901979A (en) * | 2017-11-10 | 2018-04-13 | 南京双环电器股份有限公司 | A kind of electro-hydraulic active steering road feel control system of automobile and its control method |
-
2016
- 2016-12-12 CN CN201621354202.7U patent/CN206589959U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585714A (en) * | 2016-12-12 | 2017-04-26 | 南京航空航天大学 | Classification controller of multi-mode composite steering system and control method thereof |
| CN106585714B (en) * | 2016-12-12 | 2019-02-01 | 南京航空航天大学 | A kind of multi-mode composite turning genealogical classification controller and its control method |
| CN107901979A (en) * | 2017-11-10 | 2018-04-13 | 南京双环电器股份有限公司 | A kind of electro-hydraulic active steering road feel control system of automobile and its control method |
| CN107901979B (en) * | 2017-11-10 | 2020-02-28 | 南京双环电器股份有限公司 | Automobile electro-hydraulic active steering road feel control system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106428197B (en) | Controller and control method based on multi-mode steering system power-assisted coupler | |
| CN105416392B (en) | A kind of push-down composite turning system and its mode switch control method | |
| CN105857393B (en) | The differential boost line draining pressure forward method of full wheel independent electric drive articulator | |
| CN107685767B (en) | Multiaxis wheel-hub motor driven vehicle rear-wheel steering-by-wire driving device and forward method | |
| CN106043419B (en) | Electric-liquid composite power steering control device and its control method | |
| CN105667580B (en) | A kind of wire-controlled steering system and its control method based on fuzzy control | |
| CN111152834B (en) | Electric automobile electronic differential control method based on Ackerman steering correction | |
| CN106004999B (en) | A kind of Electro-Hydraulic Power Steering System and its Multipurpose Optimal Method | |
| CN104401388A (en) | Intelligent electro-hydraulic steering system | |
| CN109726516A (en) | A kind of the variable ratio optimum design method and its dedicated system of multi-mode line traffic control servo steering system | |
| CN105253192A (en) | Automobile electric hydraulic power steering system control method | |
| CN110147580B (en) | Power-assisted current characteristic curve design method of hybrid electric control steering system considering energy consumption | |
| CN106741136A (en) | Electric boosting steering system with active steering function | |
| CN201580431U (en) | Electric control and electric four-wheeled steering (4WS) device of electric vehicle | |
| CN103496396A (en) | Novel energy-saving differential power-assisted steering system of electric wheel automobile and control method thereof | |
| CN206589959U (en) | A kind of multi-mode composite turning genealogical classification controller | |
| CN102874306A (en) | Motor steering purely-rolling device | |
| CN110962919A (en) | Active electro-hydraulic coupling steering system and vehicle | |
| CN110386191A (en) | A kind of electro-hydraulic intelligent steering system performance monitor and performance optimization method | |
| CN106741132B (en) | Controller of multi-mode active steering system and control method thereof | |
| CN209321051U (en) | Actively electro-hydraulic coupling steering system and vehicle | |
| CN206589958U (en) | A kind of active composite turning system and torque control unit | |
| CN110435754A (en) | A kind of the man-machine of electric-hydraulic combined steering system drives mode-changeover device and method altogether | |
| CN102897215B (en) | The electric-controlled hydraulic servo steering device that a kind of front-wheel steering radius is controlled | |
| CN106585714B (en) | A kind of multi-mode composite turning genealogical classification controller and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171027 Effective date of abandoning: 20190201 |
|
| AV01 | Patent right actively abandoned |