CN206606260U - A kind of simulation system of steering-by-wire road feel torque - Google Patents
A kind of simulation system of steering-by-wire road feel torque Download PDFInfo
- Publication number
- CN206606260U CN206606260U CN201720269665.1U CN201720269665U CN206606260U CN 206606260 U CN206606260 U CN 206606260U CN 201720269665 U CN201720269665 U CN 201720269665U CN 206606260 U CN206606260 U CN 206606260U
- Authority
- CN
- China
- Prior art keywords
- resistance
- voltage
- signal
- stabiliser tube
- electric capacity
- 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.)
- Expired - Fee Related
Links
Landscapes
- Power Steering Mechanism (AREA)
Abstract
The utility model is applied to motor vehicle line traffic control technical field there is provided a kind of simulation system of steering-by-wire road feel torque, including：Sensing detection unit, signal processing unit is sent for detecting the rotational angle of steering wheel and generating data signal；Signal processing unit, for being contrasted to data signal, generates bipolar voltage data signal according to comparing result and is sent to signal conversion unit；Signal conversion unit, for being sent to motor control unit after bipolar voltage data signal is converted into bipolar voltage analog signal；Motor control unit, for being amplified and filtering process to bipolar voltage analog signal, generates bipolar current signal and is sent to the road feel motor, so that road feel motor is operated according to bipolar current signal.The utility model example structure is simple, it is not necessary to carries out the particular topology electrification machine that can just satisfy the need and is controlled.
Description
Technical field
The utility model belongs to motor vehicle line traffic control technical field, more particularly to a kind of simulation system of steering-by-wire road feel torque
System.
Background technology
Traditional automobile is, with certain gearratio control front-wheel steer, to keep trailing wheel motionless, according to front-wheel by steering wheel
Rotate and drive vehicle to turn or four-wheel steering, but belong to fixed ratio transmission, it is impossible to be effectively combined vehicle working condition information, it is impossible to adjust
Contradiction between " light " and " spirit ", the non-linear relation between steering wheel angle and Vehicular yaw brings very big driving
Compensation behavior, increase drives burden.
In the prior art, in order to solve the influence driver comfort such as hard steering the problems such as, power steering dress is often introduced
Put.Either electric boosted mechanism, or hydraulic booster mechanism, all largely complicated transfer, brings steering
System cost and integrity problem；Complicated steering rod member makes chassis arrange that work faces bigger difficulty simultaneously, turns to horizontal draw
Bar easily occurs to move uncoordinated and produce interference with suspension yoke, tire positional parameter stability is influenceed, so that crisis vapour
Car manipulates stability；Equally be limited by the geometrical constraint of steering trapezium, wheel can only the same angular deflection of homonymy so that automobile loses
Go possibility of more doing more physical exercises, constrain the reduction of the min. turning radius of automobile, limit automobile by property；Trailing wheel in steering
Do not deflect, only serve follow-up action, it is impossible to realize preferable Ackermann steering model, inevitably sliding, can accelerate
The abrasion of tire.
In line traffic control motor turning, the feedback analog of road feel torque is extremely important.No matter but orthodox car steering
It is to use electric boosted or hydraulic booster, can all influences vehicle performance, the wire-controlled steering system that the used time provides in the prior art
Complicated, layout is difficult, and restricts the lifting of the various aspects of performance of vehicle.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of simulation system of steering-by-wire road feel torque, purport
Solving, wire-controlled steering system of the prior art is complicated, the problem of layout is difficult.
The utility model is achieved in that a kind of simulation system of steering-by-wire road feel torque, including sensing detection list
Member, signal processing unit, signal conversion unit, motor control unit and road feel motor；
The sensing detection unit, the rotational angle for detecting steering wheel, and generated according to the rotational angle detected
Data signal sends the signal processing unit；
The signal processing unit, for being contrasted according to the data signal, bipolarity is generated according to comparing result
Voltage digital signal is simultaneously sent to the signal conversion unit；
The signal conversion unit, for the bipolar voltage data signal to be converted into bipolar voltage analog signal
After be sent to the motor control unit；
The motor control unit, for being amplified and filtering process to the bipolar voltage analog signal, generation
Bipolar current signal is simultaneously sent to the road feel motor, and the size of current of the bipolar current signal is used to control the road
The torque size of electrification machine, the direction of the bipolar current signal is used for the rotation direction of the control road feel motor；
The road feel motor, for being run according to the bipolar current signal.
Further, the motor control unit includes power module, operational amplification circuit and push-pull amplifier circuit；
The power module, is converted into positive and negative 24V's for receiving outer power voltage, and by the outer power voltage
The road feel motor is sent to after floating voltage, so that the road feel motor is operated according to the floating voltage, is additionally operable to institute
The voltage-stabilized power supply that outer power voltage is converted into positive and negative 15V is stated, and the voltage-stabilized power supply is sent to the push-pull amplifier circuit；
The operational amplification circuit, is connected with the signal conversion unit, believes for being simulated to the bipolar voltage
Number carry out operation amplifier and filtering process, and the bipolar voltage analog signal after processing is sent to described recommends amplification electricity
Road；
The push-pull amplifier circuit, is connected with the road feel motor, for the control in bipolar voltage analog signal
Under, bipolar current signal of the output with positive negative direction.
Further, the power module includes the first electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the first voltage stabilizing
Pipe and the second voltage-stabiliser tube；
The first end of first voltage-stabiliser tube connects the first input end of external power supply, the second end of first voltage-stabiliser tube
Ground connection, the 3rd output end of power module described in the three-terminal link of first voltage-stabiliser tube；The first end of first electric capacity
Connect the first end of first voltage-stabiliser tube, the second end ground connection of first electric capacity；The first end connection of second electric capacity
3rd end of first voltage-stabiliser tube, the second end ground connection of second electric capacity；The first output end connection of the power module
The first end of first voltage-stabiliser tube；
The first end of second voltage-stabiliser tube connects the second input of external power supply, the second end of second voltage-stabiliser tube
Ground connection, the output end of three-terminal link the 4th of second voltage-stabiliser tube；The first end connection described second of 3rd electric capacity is steady
The first end of pressure pipe, the second end ground connection of the 3rd electric capacity；The first end of 4th electric capacity connects second voltage-stabiliser tube
The 3rd end, the 4th electric capacity the second end ground connection；Second output end of the power module connects second voltage-stabiliser tube
First end.
Further, first voltage-stabiliser tube is the model LM7815 positive voltage-stabiliser tube of three ends fixation, second voltage stabilizing
Pipe is that negative voltage-stabiliser tube is fixed at model LM7915 three ends.
Further, the operational amplification circuit includes operational amplifier, first resistor, second resistance, 3rd resistor, the
Four resistance, the 5th resistance, the 5th electric capacity and the 6th electric capacity；
The first end of the operational amplifier is connected to the 8th end of the operational amplifier, institute by the 5th resistance
The second end for stating operational amplifier passes sequentially through ground connection, the 3rd of the operational amplifier the after the first resistor and the 5th electric capacity
End after the second resistance by being grounded, and the 4th end of the operational amplifier connects the 4th output end of the power module,
5th end of the operational amplifier is empty pin, the output of operational amplification circuit described in the six end connecting of the operational amplifier
End, the 7th end of the operational amplifier connects the 3rd output end of the power module；The first end of 4th resistance connects
The second end of the operational amplifier is connect, the 3rd end of the 4th resistance passes sequentially through the 3rd resistor and the 6th electricity
Hold the 6th end of the connection operational amplifier.
Further, the first resistor, the second resistance and the 3rd resistor are fixed value resistance, the 4th electricity
Resistance and the 5th resistance are variable resistor.
Further, the resistance of the first resistor is 10K Ω, and the resistance of the second resistance is 4.7K Ω, described the
The resistance of three resistance is 100K Ω, and the Standard resistance range of the 4th resistance arrives 51K Ω, the Standard resistance range of the 5th resistance for 0
20K Ω are arrived for 0.
Further, the operational amplifier is model OP07 bipolar operational amplifier.
Further, the push-pull amplifier circuit includes the first triode, the second triode, the first FET, second
FET, the first voltage-regulator diode, the second voltage-regulator diode, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance,
Ten resistance, the 11st resistance, the 12nd resistance, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th resistance and
17 resistance；
The base stage of first triode connects the output end of the operational amplification circuit, the current collection of first triode
Pole passes sequentially through the positive pole that first voltage-regulator diode is connected to after the 6th resistance and the 7th resistance；Described first
The emitter stage of triode is connected to the output end of the push-pull amplifier circuit by the 12nd resistance；First voltage stabilizing two
The negative pole of pole pipe connects the first output end of the power module；The base stage of second triode connects the operation amplifier electricity
The output end on road, the colelctor electrode of second triode connects the emitter stage of first triode；Second triode
Emitter stage passes sequentially through the negative pole that second voltage-regulator diode is connected to after the 8th resistance and the 9th resistance；It is described
The positive pole of second voltage-regulator diode connects the second output end of the power module；The first end connection of tenth resistance is described
The emitting stage of first triode, the second end ground connection of the tenth resistance；
The first end of shown 11st resistance is connected between the 6th resistance and the 7th resistance, and the described 11st
Second end of resistance connects the grid of first FET；After 14th resistance and the 15th resistor coupled in parallel,
It is connected between the drain electrode of first FET and the first output end of the power module；First FET
Source electrode connects the output end of the push-pull amplifier circuit；
The first end of shown 13rd resistance is connected between the 8th resistance and the 9th resistance, and the described 13rd
Second end of resistance connects the grid of second FET；After 16th resistance and the 17th resistor coupled in parallel,
It is connected between the source electrode of second FET and the second output end of the power module；Second FET
The output end of the drain electrode connection push-pull amplifier circuit.
Further, first triode and second triode are NPN type triode, first field-effect
Manage as P-channel field-effect transistor (PEFT) pipe, second FET is N-channel FET.
Compared with prior art, beneficial effect is the utility model：The simulation system that the utility model embodiment is provided
Generated by detecting the rotational angle of steering wheel, and according to the steering angle after data signal, the data signal is parsed
Bipolar voltage data signal is obtained, the bipolar voltage data signal is carried out after digital-to-analogue conversion and amplification filtering, obtains double
Polarity current signal, the operating of road feel motor is controlled with the bipolar current signal.The utility model embodiment passes through detection side
Corresponding bipolar current signal is ultimately generated to the rotational angle of disk, and according to the rotational angle of direction disk, electric current letter
Number to control the rotation direction and torque size of road feel motor, the torque sensing road surface feelings that driver passes through road feel motor feedback
Condition is adjusted in conjunction with traffic and speed to the speed and traffic direction of vehicle, the letter of the utility model example structure
It is single, it is not necessary to carry out the particular topology electrification machine that can just satisfy the need and be controlled.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the simulation system for steering-by-wire road feel torque that the utility model embodiment is provided
Figure.
Fig. 2 is the connection diagram for the steering wheel angle sensor that the utility model embodiment is provided；
Fig. 3 is the pulse schematic diagram for the incremental photoelectric encoder that the utility model embodiment is provided；
Fig. 4 is the schematic diagram for the road feel motor simulation control that the utility model embodiment is provided；
Fig. 5 is the structural representation for the power module that the utility model embodiment is provided；
Fig. 6 is the structural representation for the operational amplification circuit that the utility model embodiment is provided；
Fig. 7 is the structural representation for the push-pull amplifier circuit that the utility model embodiment is provided；
Fig. 8 is the connection diagram of the power module that the utility model embodiment is provided and signal processing unit；
Fig. 9 is the structural representation for the motor control unit that the utility model embodiment is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model embodiment provides a kind of simulation system of steering-by-wire road feel torque as shown in Figure 1, including
Sensing detection unit 101, signal processing unit 102, signal conversion unit 103, motor control unit 104 and road feel motor 105；
Sensing detection unit 101, the rotational angle for detecting steering wheel, and number is generated according to the rotational angle detected
Word signal sends signal processing unit 102；
Signal processing unit 102, for being contrasted to the data signal, bipolar voltage is generated according to comparing result
Data signal is simultaneously sent to signal conversion unit 103.In the present embodiment, signal processing unit 102 is built-in with contrast list, should
Include the corresponding bipolar voltage data signal of data signal in contrast list, sent when receiving sensing detection unit 101
Data signal after, signal processing unit 102 will be in the contrast list lookup to the corresponding bipolar voltage number of the data signal
Word signal, and it is sent to signal conversion unit 103.
Signal conversion unit 103, for the bipolar voltage data signal to be converted into bipolar voltage analog signal
After be sent to motor control unit 104；
Motor control unit 104, for being amplified and filtering process to the bipolar voltage analog signal, generation is double
Polarity current signal is simultaneously sent to road feel motor 105, and the size of current of the bipolar current signal is used to control road feel motor
105 torque size, the direction of the bipolar current signal is used for the rotation direction of control road feel motor 105；
Road feel motor 105, for being run according to the bipolar current signal.
In actual applications, sensing detection unit 101 can realize above-mentioned functions using steering wheel angle sensor, more
Body, it is above-mentioned in steering wheel of the steering wheel used in conventional truck, steering wheel angle sensor increased using the Omron of 600 lines
Amount type photoelectric encoder.Fig. 2 shows the connection diagram of the rotary angle transmitter for the steering wheel that the utility model embodiment is provided,
Wherein, the operation principle of incremental photoelectric encoder is that the mechanical corner of axle is converted into digital letter using the method for opto-electronic conversion
Number output sophisticated sensor.Steering wheel, which rotates to drive on steering axes, the pulse code-disc rotated with rotating shaft, uniform
The grating scribed, is evenly distributed several printing opacity sections and shading section on code-disc.Incremental encoder is not fixed
Leading zero's, output is the pulse being directly proportional to the increment of corner, it is necessary to count umber of pulse with counter.Often turn over one
During transparent area, a pulse signal is issued by, counter currency adds 1, count results correspond to the increment of corner, incremental light
The pulse of photoelectric coder is as shown in Figure 3.Signal conversion unit 103 changes integrated chip using model DAC0832 D/A, but
It is that in a particular application, signal conversion unit 103 can also possess the component of analog conversion function using other, while digital-to-analogue
The digit of conversion component is bigger, and the precision of resolution ratio and output current is higher.
Fig. 4 shows the simulation control process for the road feel motor 105 that the utility model embodiment is provided, in practical application
In, it is divided into back positive process and torque feedback process because steering wheel is rotated, road feel motor 105 at least includes 2 in operation process
Individual operation mode.During returning just, the rotation direction of steering wheel is consistent with the rotation direction of road feel motor 105, in moment of torsion
The process of feedback, the rotation direction of steering wheel is in opposite direction with the rotation of road feel motor 105, i.e., road feel motor is in continuous stifled
Turn state.The control input bipolar voltage data signal of signal processing unit 102, carries out modulus through signal conversion unit 103 and turns
After changing, the signal is amplified and filtered with operational amplifier by motor control unit 104, then by push-pull amplifier circuit,
Ambipolar high current is exported, the torque of size of current control road feel motor 105, sense of current controls road feel motor 105
Rotation direction, output current wants sufficiently large and to keep the good linearity with input voltage, with meet road feel simulation will
Ask.
The motor control unit 104 that the utility model embodiment is provided further is explained below by Fig. 5 to Fig. 9
State：
In the present embodiment, motor control unit 103 includes power module, operational amplification circuit and push-pull amplifier circuit；
The power module, is converted into positive and negative 24V's for receiving outer power voltage, and by the outer power voltage
The road feel motor is sent to after floating voltage, so that the road feel motor is operated according to the floating voltage, is additionally operable to institute
The voltage-stabilized power supply that outer power voltage is converted into positive and negative 15V is stated, and the voltage-stabilized power supply is sent to the push-pull amplifier circuit；
The operational amplification circuit, is connected with the signal conversion unit, believes for being simulated to the bipolar voltage
Number carry out operation amplifier and filtering process, and the bipolar voltage analog signal after processing is sent to described recommends amplification electricity
Road；
The push-pull amplifier circuit, is connected with the road feel motor, for the control in bipolar voltage analog signal
Under, bipolar current signal of the output with positive negative direction.
Specifically, as shown in figure 5, power module includes the first electric capacity C1, the second electric capacity C2, the 3rd electric capacity C3, the 4th electricity
Hold C4, the first voltage-stabiliser tube REG1 and the second voltage-stabiliser tube REG2；
The first input end of first voltage-stabiliser tube REG1 first end IN connection external power supplys, the second of the first voltage-stabiliser tube REG1
Hold GND ground connection, the 3rd output end of the first voltage-stabiliser tube REG1 the 3rd end OUT connections power module；First electric capacity C1's
First end connects the first voltage-stabiliser tube REG1 first end IN, the first electric capacity C1 the second end ground connection；Second electric capacity C2 first end
Connect the first voltage-stabiliser tube REG1 the 3rd end OUT, the second electric capacity C2 the second end ground connection；First output end of the power module
Connect the first voltage-stabiliser tube REG1 first end IN；
Second input of the first voltage-stabiliser tube REG2 first end IN connection external power supplys, the second of the first voltage-stabiliser tube REG2
Hold GND ground connection, the first voltage-stabiliser tube REG2 output end of the 3rd end OUT connections the 4th；3rd electric capacity C3 first end connection first
Voltage-stabiliser tube REG2 first end IN, the 3rd electric capacity C3 the second end ground connection；4th electric capacity C4 first end connects the first voltage-stabiliser tube
REG2 the 3rd end OUT, the 4th electric capacity C4 the second end ground connection；Second output end of the power module connects the second voltage-stabiliser tube
REG2 first end IN.
In above-mentioned power module, positive voltage-stabiliser tube, second are fixed in three ends that the first voltage-stabiliser tube REG1 is model LM7815
Negative voltage-stabiliser tube, the first output end output+24V of power module electricity are fixed in three ends that voltage-stabiliser tube REG2 is model LM7915
Pressure, the second output end output -24V of power module, the 3rd output end output+15V of power module voltage, power module
4th output end output -15V voltage.The major function for the above-mentioned power module that the present embodiment is provided is by vehicle power supply voltage
Direct current ± 24V floating voltage is converted into, the floating voltage is applied to the main circuit power of road feel motor, and be converted into ±
15V voltage-stabilized power supplies are used to power for other components on motor control unit 103.External power supply input ± 24V voltages, are added in
Operating on push-pull amplifier circuit with the electrification machine that satisfies the need is powered.The external power supply does not have the function of continuously adjustabe, to using
Inconvenience to a certain extent is brought, therefore fixes voltage-stablizer pair with one piece of LM7815 and one piece of end of LM7915 tri- in the present embodiment
Claim connection, the positive and negative 15V voltage-stabilized power supplies of one group of Symmetrical can be obtained, the component on circuit for controlling motor is powered.Electricity
Source module is obtained after ± 15V voltages, after obtaining 12V voltage-stabilized power supplies through LM7812 voltage stabilizings, is powered to relay and LED.Power supply
Module is obtained after 12V voltages, after obtaining positive 5V source of stable pressure through LM7805, is powered to radiator fan.
As shown in fig. 6, operational amplification circuit includes operational amplifier OP, first resistor R1, second resistance R2,3rd resistor
R3, the 4th resistance R4, the 5th resistance R5, the 5th electric capacity C5 and the 6th electric capacity C6；
Operational amplifier OP first end is connected to operational amplifier OP the 8th end, operation amplifier by the 5th resistance R5
Device OP the second end passes sequentially through and is grounded after first resistor R1 and the 5th electric capacity C5, and operational amplifier OP the 3rd end passes through second
It is grounded after resistance R2, operational amplifier OP the 4th end connects the 4th output end of the power module, operational amplifier OP's
Empty pin is in 5th end, the output end of operational amplification circuit described in operational amplifier OP six end connecting, operational amplifier OP's
7th end connects the 3rd output end of the power module；The second of 4th resistance R4 first end concatenation operation amplifier OP
End, the 4th resistance R4 the 3rd end passes sequentially through 3rd resistor R3 and the 6th electric capacity C6 concatenation operation amplifiers OP the 6th end.
In a particular application, first resistor R1, second resistance R2 and 3rd resistor R3 are fixed value resistance, the 4th resistance R4
It is variable resistor with the 5th resistance R5, wherein, first resistor R1 resistance is 10K Ω, and second resistance R2 resistance is 4.7K Ω,
3rd resistor R3 resistance is that 100K Ω, the 4th resistance R4 Standard resistance range are 0 to 51K Ω, the 5th resistance R5 Standard resistance range
20K Ω are arrived for 0, operational amplifier OPOP is model OP07 bipolar operational amplifier.In the present embodiment, the OP07 of use
Bipolar operational amplifier be a low noise bipolar operational amplifier, it has, and input bias current is low and open loop increases
The characteristics of benefit is high, is adapted to the signal amplification of high-gain, using anti-phase scaling, the series capacitance on backfeed loop, to low frequency
Signal is filtered, and multiplication factor is equal to input impedance on backfeed loop resistance ratio, and R can be adjusted during debugging4's
Resistance, to obtain preferable multiplication factor, makes output current reach requirement.
As shown in fig. 7, the push-pull amplifier circuit includes the first triode T1, the second triode T2, the first FET
MOS1, the second FET MOS2, the first voltage-regulator diode Z1, the second voltage-regulator diode Z2, the 6th resistance R6, the 7th resistance
R7, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, the 11st resistance R11, the 12nd resistance R12, the 13rd resistance
R13, the 14th resistance R14, the 15th resistance R15, the 16th resistance R16 and the 17th resistance R17；
First triode T1 base stage connects the output end of the operational amplification circuit, the first triode T1 colelctor electrode according to
The secondary positive pole by being connected to the first voltage-regulator diode Z1 after the 6th resistance R6 and the 7th resistance R7；First triode T1 transmitting
Pole is connected to the output end of the push-pull amplifier circuit by the 12nd resistance R12；First voltage-regulator diode Z1 negative pole connection
First output end of the power module；Second triode T2 base stage connects the output end of the operational amplification circuit, second
Triode T2 colelctor electrode connects the first triode T1 emitter stage；Second triode T2 emitter stage passes sequentially through the eight or two electricity
The second voltage-regulator diode Z2 negative pole is connected to after resistance R8 and the 9th resistance R9；Second voltage-regulator diode Z2 positive pole connection is described
Second output end of power module；Tenth resistance R10 first end connects the first triode T1 emitting stage, the tenth resistance R10
The second end ground connection；
11st resistance R11 first end is connected between the 6th resistance R6 and the 7th resistance R7, the 11st resistance R11's
Second end connects the first FET MOS1 grid；After 14th resistance R14 and the 15th resistance R15 is in parallel, it is connected to and states
Between first FET MOS1 drain electrode and the first output end of the power module；First FET MOS1 source electrode connects
Connect the output end of the push-pull amplifier circuit；
13rd resistance R13 first end is connected between the 8th resistance R8 and the 9th resistance R9, the 13rd resistance R13's
Second end connects the second FET MOS2 grid；After 16th resistance R16 and the 17th resistance R17 are in parallel, the is connected to
Between two FET MOS2 source electrode and the second output end of the power module；Second FET MOS2 drain electrode connection
The output end of the push-pull amplifier circuit.The output end link road electrification machine 105 of the push-pull amplifier circuit, specific connection is shown
It is intended to as shown in Figure 9.
In the present embodiment, the first triode T1 and the second triode T2 are NPN type triode, the first FET
MOS1 is P-channel field-effect transistor (PEFT) pipe, and the model IRF9640, the second FET MOS2 specifically used is N-channel FET,
The model IRF640 specifically used.Bipolar voltage analog signal is connected on what is be cascaded by triode T1 and diode T2
On circuit, make corresponding triode in running order according to the difference of the bipolar voltage analog signal signal polarity of input,
And another triode be in cut-off state, and the two triodes respectively with FET IRF640 and FET
IRF9640 is connected in parallel on the two ends of road feel motor after connecting, when triode T2 is turned on, voltage-regulator diode Z1 reverse-conductings imitate field
Should pipe IRF9640 grid positively biaseds so that IRF9640 conducting and in amplification working condition.Similarly, reverse current control is implemented
When, then triode T1 and FET IRF640 are on magnifying state, by the secondary amplification of triode and metal-oxide-semiconductor, obtain
Road feel motor is driven enough to big electric current.
In the present embodiment, push-pull amplifier circuit is powered using two dc power supply, by FET IRF640 and field-effect
Pipe IRF9640 implements the control of forward and reverse electric current respectively, there was only a FET job at some moment, and can protect
Hold relatively low Guan Wen.In a particular application, which is in running order by FET IRF640 and FET IRF9640
It is to be controlled by bipolar voltage analog signal, the access of this bipolar voltage analog signal is connected on by triode T1 and T2
On circuit together, make corresponding triode in running order according to the difference of input signal polarity, and another triode
In cut-off state, and the two triodes are connected in parallel on road feel electricity after connecting respectively with FET IRF640 and IRF9640
The two ends of machine, as can be seen that the present embodiment can realize that the direction of motor on demand is transported on the schematic diagram shown in Fig. 9
OK.The motor control unit that the utility model embodiment is provided solves general motor operation and needs to use driver and control
Device, the problem of space-consuming position is big, layout is complicated, cost is high.
As shown in figure 8, using the signal conversion unit 103 of model bipolarity DAC0832 modules, using CMOS technology system
8 D/A converters of monolithic direct-current-output type of journey, are connected with 8 I/O interfaces of single-chip microcomputer, and 8 bit digital quantity control signals turn
Change the magnitude of voltage that unit 103 exports -5V to+5V.
The simulation system that above-described embodiment that the utility model is provided is provided eliminates steering wheel and the machinery of steering mechanism
Connection, the feedback of torque and returning just all by road feel motor control for steering wheel so that simulation system is simplified to subtract
Few failure, beneficial to maintenance.Secondly, the system provides running state of the vehicle information for driver, at utmost ensure that and tradition
Control loop ground uniformity, operating burden, is conducive to SBW (Steering By Wire, steering-by-wire system with reducing driver
System) popularization and application.The real time digital signal of steering wheel angle is gathered using incremental photoelectric encoder, without being filtered.
Again, using the input current and the preferable relation of the electromagnetic torque linearity of rare-earth type torque motor, control and realization are simpler
It is single, directly pass through the size and the size and Orientation of positive and negative just energy control moment motor output torque of control electric current.Finally, sample
Real-time preferably, only need a small amount of parameter in computation model to be just adaptable to various vehicles, have a wide range of application, can be applicable
To all steering-by-wire automobiles, and it is possible under the premise of vehicle hardware ground is not changed, by changing parameter, easily realize
Feedback ground changes, so that with realizing car steering personalized designs.
In line traffic control motor turning, the feedback analog of road feel torque is very important.Due to orthodox car steering
Whether electric boosted or hydraulic booster is used, vehicle performance can be all influenceed and complicated, layout is difficult.The present embodiment
Wire control technology is applied in steering by the steering-by-wire of offer, and the machinery of steering wheel and steering wheel is replaced even by electronic information
Connect, the steering information collected is transferred to signal transacting list by rotational angle and direction using sensor measurement direction disk
Member, after signal processing unit is parsed to information such as the steering angles of steering wheel, according to the result finally given to automobile
Steering be controlled, realize freely designing for course changing control, available for improvement vehicle steering characteristic.
The control section that the utility model embodiment provides simulation system is substantially voltage -- current conversion circuit.In reality
In, after the rotational angle for detecting steering wheel, bipolar voltage simulation is finally given after handling the rotational angle
Signal, the bipolar voltage analog signal can also calculate given by kinetic model in Simulation Control computer, its symbol and
Absolute value, characterizes road feel motor and produces the direction of moment of torsion and the size of power, the width of this bipolar voltage analog signal respectively
It is worth for ± 10V.After voltage-current converting circuit, the electric current of output is sent to direct current torque motor, to control road feel motor
The direction of rotation, and moment of torsion size.During realistic simulation, the voltage from real-time simulation control computer analog output channel
Signal, through being sent to the input of torque motor control circuit, the signal is through voltage -- current transformation, produce electric current letter
Number, torque motor is directly output to, the torque for making it produce simulation.Therefore, the sense of current and size are controlled, be allowed to it is defeated
Entering voltage has good linear relation, that is, realizes the generation of aligning torque.It is set as that bipolar voltage is simulated in the present embodiment
When signal is ± 10V, the corresponding torques of 0~+10V are 0~positive maximum moment, the corresponding torques of 0~-10V are 0~and negative maximum, force
Square.Road feel motor output torque is ± 11.76Nm, if desired, being adjustable to ± 15.68Nm.
The utility model embodiment purpose is in view of the deficienciess of the prior art, providing a kind of steering-by-wire road feel power
The simulation system of square.Angle and vehicle speed sensor automobile that the steering wheel that the system makes full use of angular transducer to gather is rotated
The speed of service, and computing is carried out according to the information collected, obtain angle, direction and road feel electricity that steering motor should be rotated
The torque size and Orientation that machine should be exported.Steering motor, road feel motor, wheel speed motor are controlled according to these parameters
System, driver by the torque sensing surface conditions of road feel motor feedback in conjunction with traffic and speed to the speed of vehicle and
Traffic direction is adjusted.Thus constitute the manual closed-loop control system of people -- car -- people.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of simulation system of steering-by-wire road feel torque, it is characterised in that the simulation system include sensing detection unit,
Signal processing unit, signal conversion unit, motor control unit and road feel motor；
The sensing detection unit, the rotational angle for detecting steering wheel, and numeral is generated according to the rotational angle detected
Signal sends the signal processing unit；
The signal processing unit, for being contrasted according to the data signal, bipolar voltage is generated according to comparing result
Data signal is simultaneously sent to the signal conversion unit；
The signal conversion unit, sends out for the bipolar voltage data signal to be converted to after bipolar voltage analog signal
Give the motor control unit；
The motor control unit, for being amplified and filtering process to the bipolar voltage analog signal, is generated bipolar
Property current signal and be sent to the road feel motor, the size of current of the bipolar current signal is used to control the road feel electricity
The torque size of machine, the direction of the bipolar current signal is used for the rotation direction of the control road feel motor；
The road feel motor, for being run according to the bipolar current signal.
2. simulation system as claimed in claim 1, it is characterised in that the motor control unit includes power module, computing
Amplifying circuit and push-pull amplifier circuit；
The power module, for receiving outer power voltage, and the outer power voltage is converted into positive and negative 24V zero load
The road feel motor is sent to after voltage, so that the road feel motor is operated according to the floating voltage, being additionally operable to will be described outer
Portion's supply voltage is converted into positive and negative 15V voltage-stabilized power supply, and the voltage-stabilized power supply is sent into the push-pull amplifier circuit；
The operational amplification circuit, is connected with the signal conversion unit, for entering to the bipolar voltage analog signal
Row operation amplifier and filtering process, and the bipolar voltage analog signal after processing is sent to the push-pull amplifier circuit；
The push-pull amplifier circuit, is connected with the road feel motor, defeated under the control of bipolar voltage analog signal
Go out the bipolar current signal with positive and negative direction.
3. simulation system as claimed in claim 2, it is characterised in that the power module include the first electric capacity, the second electric capacity,
3rd electric capacity, the 4th electric capacity, the first voltage-stabiliser tube and the second voltage-stabiliser tube；
The first end of first voltage-stabiliser tube connects the first input end of external power supply, the second termination of first voltage-stabiliser tube
Ground, the 3rd output end of power module described in the three-terminal link of first voltage-stabiliser tube；The first end of first electric capacity connects
Connect the first end of first voltage-stabiliser tube, the second end ground connection of first electric capacity；The first end connection institute of second electric capacity
State the 3rd end of the first voltage-stabiliser tube, the second end ground connection of second electric capacity；The first output end connection institute of the power module
State the first end of the first voltage-stabiliser tube；
The first end of second voltage-stabiliser tube connects the second input of external power supply, the second termination of second voltage-stabiliser tube
Ground, the output end of three-terminal link the 4th of second voltage-stabiliser tube；The first end of 3rd electric capacity connects second voltage stabilizing
The first end of pipe, the second end ground connection of the 3rd electric capacity；The first end of 4th electric capacity connects second voltage-stabiliser tube
3rd end, the second end ground connection of the 4th electric capacity；Second output end of the power module connects second voltage-stabiliser tube
First end.
4. simulation system as claimed in claim 3, it is characterised in that first voltage-stabiliser tube is model LM7815 three ends
Fixed positive voltage-stabiliser tube, second voltage-stabiliser tube is that negative voltage-stabiliser tube is fixed at model LM7915 three ends.
5. simulation system as claimed in claim 4, it is characterised in that the operational amplification circuit includes operational amplifier, the
One resistance, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 5th electric capacity and the 6th electric capacity；
The first end of the operational amplifier is connected to the 8th end of the operational amplifier, the fortune by the 5th resistance
The second end for calculating amplifier passes sequentially through ground connection after the first resistor and the 5th electric capacity, and the 3rd end of the operational amplifier leads to
Cross after the second resistance and be grounded, the 4th end of the operational amplifier connects the 4th output end of the power module, described
Empty pin is in 5th end of operational amplifier, the output end of operational amplification circuit described in the six end connecting of the operational amplifier,
7th end of the operational amplifier connects the 3rd output end of the power module；The first end connection institute of 4th resistance
The second end of operational amplifier is stated, the 3rd end of the 4th resistance passes sequentially through the 3rd resistor and the 6th electric capacity connects
Connect the 6th end of the operational amplifier.
6. simulation system as claimed in claim 5, it is characterised in that the first resistor, the second resistance and described
Three resistance are fixed value resistance, and the 4th resistance and the 5th resistance are variable resistor.
7. simulation system as claimed in claim 6, it is characterised in that the resistance of the first resistor is 10K Ω, described second
The resistance of resistance is 4.7K Ω, and the resistance of the 3rd resistor is 100K Ω, and the Standard resistance range of the 4th resistance arrives 51K for 0
Ω, the Standard resistance range of the 5th resistance arrives 20K Ω for 0.
8. simulation system as claimed in claim 5, it is characterised in that the operational amplifier is model OP07 bipolarity
Operational amplifier.
9. simulation system as claimed in claim 2, it is characterised in that the push-pull amplifier circuit includes the first triode, the
Two triodes, the first FET, the second FET, the first voltage-regulator diode, the second voltage-regulator diode, the 6th resistance,
Seven resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11st resistance, the 12nd resistance, the 13rd resistance, the 14th electricity
Resistance, the 15th resistance, the 16th resistance and the 17th resistance；
The base stage of first triode connects the output end of the operational amplification circuit, the colelctor electrode of first triode according to
The secondary positive pole by being connected to first voltage-regulator diode after the 6th resistance and the 7th resistance；One or three pole
The emitter stage of pipe is connected to the output end of the push-pull amplifier circuit by the 12nd resistance；First voltage-regulator diode
Negative pole connect the first output end of the power module；The base stage of second triode connects the operational amplification circuit
Output end, the colelctor electrode of second triode connects the emitter stage of first triode；The transmitting of second triode
Pole passes sequentially through the negative pole that second voltage-regulator diode is connected to after the 8th resistance and the 9th resistance；Described second
The positive pole of voltage-regulator diode connects the second output end of the power module；The first end connection described first of tenth resistance
The emitting stage of triode, the second end ground connection of the tenth resistance；
The first end of shown 11st resistance is connected between the 6th resistance and the 7th resistance, the 11st resistance
The second end connect the grid of first FET；After 14th resistance and the 15th resistor coupled in parallel, connection
Between the drain electrode of first FET and the first output end of the power module；The source electrode of first FET
Connect the output end of the push-pull amplifier circuit；
The first end of shown 13rd resistance is connected between the 8th resistance and the 9th resistance, the 13rd resistance
The second end connect the grid of second FET；After 16th resistance and the 17th resistor coupled in parallel, connection
Between the source electrode of second FET and the second output end of the power module；The drain electrode of second FET
Connect the output end of the push-pull amplifier circuit.
10. simulation system as claimed in claim 9, it is characterised in that first triode and second triode are equal
For NPN type triode, first FET is P-channel field-effect transistor (PEFT) pipe, and second FET is N-channel field-effect
Pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720269665.1U CN206606260U (en) | 2017-03-20 | 2017-03-20 | A kind of simulation system of steering-by-wire road feel torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720269665.1U CN206606260U (en) | 2017-03-20 | 2017-03-20 | A kind of simulation system of steering-by-wire road feel torque |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206606260U true CN206606260U (en) | 2017-11-03 |
Family
ID=60166041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720269665.1U Expired - Fee Related CN206606260U (en) | 2017-03-20 | 2017-03-20 | A kind of simulation system of steering-by-wire road feel torque |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206606260U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926896A (en) * | 2017-03-20 | 2017-07-07 | 深圳大学 | A kind of simulation system of steering-by-wire road feel torque |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
| CN109850008A (en) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | A kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control method |
| TWI746337B (en) * | 2020-12-29 | 2021-11-11 | 財團法人工業技術研究院 | Steering control device and control method for wire-controlled vehicle |
-
2017
- 2017-03-20 CN CN201720269665.1U patent/CN206606260U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926896A (en) * | 2017-03-20 | 2017-07-07 | 深圳大学 | A kind of simulation system of steering-by-wire road feel torque |
| CN108549392A (en) * | 2018-05-31 | 2018-09-18 | 南京铁道职业技术学院 | A method of control vehicle rotational angle |
| CN109850008A (en) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | A kind of bi-motor dual power supply wire-controlled steering system and its fault tolerant control method |
| CN109850008B (en) * | 2019-02-25 | 2020-07-28 | 南京航空航天大学 | Dual-motor dual-power-supply steer-by-wire system and fault-tolerant control method thereof |
| TWI746337B (en) * | 2020-12-29 | 2021-11-11 | 財團法人工業技術研究院 | Steering control device and control method for wire-controlled vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206606260U (en) | A kind of simulation system of steering-by-wire road feel torque | |
| CN202024896U (en) | Closed-loop analogue means of automobile turning system resistance moment | |
| CN101393081A (en) | Electric power-assisted steering test stand | |
| Meng et al. | Two-wheeled robot platform based on PID control | |
| CN105416392A (en) | Push rod type composite steering system and mode switching control method thereof | |
| CN201163239Y (en) | Electric power-assisted steering testing bench | |
| CN105966263A (en) | Differential turning road sense control method of motor-wheel vehicle driven by hub motors | |
| JPS63297173A (en) | Composite steering device for automobile | |
| CN101318518A (en) | Steering system of instruction car | |
| CN106926896A (en) | A kind of simulation system of steering-by-wire road feel torque | |
| CN106740090A (en) | A kind of electric-control system on four-wheel drive four-wheel steering automatic Pilot chassis | |
| CN208411861U (en) | The magnetorheological fluid power sense feedback device of bevel gear | |
| CN207180596U (en) | A kind of PSD sensor signal conditionings device | |
| CN207015371U (en) | A kind of intelligent book car of taking care of books | |
| Gobbi et al. | Measurement of the forces and moments acting on farm tractor pneumatic tyres | |
| CN203464988U (en) | Dynamic vehicle weighing and speed detection device | |
| CN210427027U (en) | Steering simulation system for intelligent vehicle rack test | |
| CN201021909Y (en) | Torque sensor | |
| CN203148612U (en) | Compact type non-contact inductive sensor and electric power steering system | |
| CN107380256A (en) | The steering traffic control method of driven plate transport vehicle | |
| CN204871167U (en) | Electronic power assisted steering device based on four wheel steering | |
| CN201159690Y (en) | Drive-by-wire steering system experimental device | |
| US20090272584A1 (en) | Steering Control System | |
| CN207045449U (en) | A kind of independent steering gear | |
| CN107776660A (en) | New automobile electric boosting steering system torque rotary angle transmitter and its detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171103 Termination date: 20180320 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |