CN206719311U - It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile - Google Patents
It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile Download PDFInfo
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- CN206719311U CN206719311U CN201720326620.3U CN201720326620U CN206719311U CN 206719311 U CN206719311 U CN 206719311U CN 201720326620 U CN201720326620 U CN 201720326620U CN 206719311 U CN206719311 U CN 206719311U
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- leading screw
- spacing
- torque
- tactile
- driver
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Abstract
The utility model is related to it is a kind of with adjustable limiting and return positive power tactile guiding assistant steering device, be made up of transfer hardware components and electric machine control system, it is characterised in that：Steering wheel and adjustable mechanical are spacing and leading screw one end of aligning device is connected, adjustable mechanical is spacing and the leading screw other end of aligning device is connected by first shaft coupling with torque sensor front end, torque sensor rear end is connected by second shaft coupling with the decelerator on torque motor, torque motor rear end is disposed with incremental optical-electricity encoder, and torque motor and decelerator bottom are fixedly connected with bottom plate；It can not only be guided by torque motor to provide driver with tactile, and with the addition of that adjustable mechanical is spacing and aligning device；Postive stop baffle can ensure that the caging bolt of both sides is in and inclination is produced when same vertical position moves to prevent feed screw nut, steering wheel feels that the corner forecast model in shared loop controls by power, produce " traction " and " teaching " effect to human hand, feel information alert so as to provide power for driver, realize tactile miscellaneous function during Vehicular turn.
Description
Technical field
The utility model is related to it is a kind of with adjustable limiting and return positive power tactile guiding assistant steering device, belong to vehicle
Intelligent driving technical field.
Background technology
The performance of tradition machinery automobile is quite ripe at present, in order to further improve vehicle relaxing under various operating modes
Adaptive and security, it is necessary to use a series of electron assistant control loop.Wire-controlled steering system replaces machine with electric wire connection
Mechanical connection in tool steering between steering wheel and deflecting roller, by appropriate course changing control, it can not only improve driving
Performance, the maneuverability for lifting vehicle, and the active safety and driver comfort of automobile can be improved, thus be considered to more
Good is applied to automobile steering system of future generation.
Traditional vehicle, driver can obtain external information by the mechanical connection of steering wheel and wheel, such as by turning
Information of road surface is obtained to reaction torque, perceives the road environment of vehicle operation.And wire-controlled steering system is without corresponding machinery
Connection, therefore its steering angle ratio and road feel can be designed freely.With the development of steering technique, pass through wheel steering system
Feedback is provided and has become possibility.
Traditionally, vision and audio feedback are conventional auxiliary driving technologies, and research shows, vision and audio feedback by
Confirmation is very effective driving ancillary technique.Current major automobile vendor's view-based access control model and audio feedback develop various driving
Member's accessory system, such as collision avoidance system, Lane Departure Warning System, visual field enhancing/night vision system, driver status monitoring system
Deng to simplify driver behavior, mitigation driver fatigue.But either audio feedback or visual feedback, driver are both needed to
Certain reaction time and judge processing time, and as the increase of driving time, the sensation of driver are overloaded and may sent out
Raw, this delays the optimal trip-reclosure time under emergency situations to a certain extent；In addition it is tired to easily cause Driver Vision for visual feedback
Labor, the problems such as audio feedback is vulnerable to the interference of road noise.
Due to having many similarities, Steering wheel module steering wheel mould between wire-controlled steering system structure and remote control system
Block is main operation module, and steering execution module is operational module.Therefore by the force feedback in remote operating field, tactile guiding control skill
Art introduces the manipulation device of vehicle, and the new drive assist system of exploitation vehicle, steering wheel is to driver when realizing vehicle drive
The tactile guiding of behavior, improve the intelligence and safety of vehicle performance.
Compared to traditional vision and sense of hearing auxiliary driving technology, the touch feedback at steering wheel can more effectively drive
Member, which provides, drives auxiliary.Touch feedback at steering wheel has the ability to provide driver's biography by vibration, moment of torsion and other forms
The driving sensation of system vehicle.Understanding of the driver to vehicle-periphery information and riving condition is increased by force feedback, so as to
Diverting one's attention for driver is reduced, helps to cultivate the more preferable Driving Decision-making consciousness of driver.There is scholar's research wheel steering system
The error feedback of vision, the sense of hearing and touch feedback and the cornering ability of vehicle, research show based on the user of touch feedback in reality
Driving performance during the Vehicular turn on border with respect to other two kinds feedbacks is more preferable.
The content of the invention
The purpose of this utility model be to provide it is a kind of with adjustable limiting and return positive power tactile guiding assistant steering device,
It can not only be guided by torque motor to provide driver with tactile, and with the addition of adjustable mechanical it is spacing and return formal dress
Put；Adjustable mechanical is spacing and aligning device, can be with the sensation of simulation actual steering true to nature by spring, screw mechanism；Leading screw
When nut is in an intermediate position, both ends are in the spring of compression position, feed screw nut is in poised state；When feed screw nut is inclined
To either side position, one end spring-compressed degree is deepened, and another lateral spring is relative to be loosened, feed screw nut force unbalance, by
It can only be slided in feed screw nut along medial launder, so as to which leading screw is driving steering wheel return just；Adjustable mechanical is spacing and aligning device, can be with
Spacing scope is adjusted by the distance of the trapezoidal nut relative equilibrium position in guide groove；Matched bolt is by tightening
Trapezoidal nut is produced the pretightning force between guide groove and fix position-limit mechanism, by the stop of stud so as to limiting feed screw nut
Range of movement, in addition postive stop baffle can ensure the caging bolt of both sides be in same vertical position to prevent feed screw nut move
When produce inclination.
What the technical solution of the utility model was realized in：It is a kind of with adjustable limiting and to return positive power tactile guiding auxiliary
Transfer is helped, is made up of transfer hardware components and electric machine control system, it is characterised in that：Steering wheel limits with adjustable mechanical
Position and the connection of leading screw one end of aligning device, adjustable mechanical is spacing and the leading screw other end of aligning device by first shaft coupling with
Torque sensor front end is connected, and torque sensor rear end is connected by second shaft coupling with the decelerator on torque motor, torque
Motor rear end is disposed with incremental optical-electricity encoder, and torque motor and decelerator bottom are fixedly connected with bottom plate；
Electric machine control system includes moment inspecting module, motor control drive module；Leading screw is detected using torque sensor
The moment of torsion being subject to, carried out data transmission by serial ports with host computer using RS232；The power supply interface and power of BHOS8010 drivers
The feeder ear of torque motor is connected, and the RS232 communication interfaces on BHOS8010 drivers are connected with host computer serial ports, and BHOS8010 drives
The input interface of incremental encoder, incremental optical-electricity encoder is connected with driver, and pass through internal drive on dynamic device
Parameter setting, realize the closed-loop control to position.
Described adjustable mechanical is spacing and the leading screw both ends of aligning device are held by angular contact type be fixed on bearing respectively
On bearing, bearing (ball) cover is bolted to connection on the outside of two bearing spiders, passes through bolt on the inside of two bearing spiders
Spring stop is fixedly connected with, feed screw nut is enclosed on medium position on leading screw, and spring housing is in leading screw upper leading screw nut left and right ends, silk
There is guide plate thick stick both sides, and guide plate both ends top surface is provided with stopper slot, and a guide groove is provided with below guide plate upper limit position groove,
Feed screw nut both sides limited location is raised, and feed screw nut is coordinated by spacing preiection and guide groove to be connected with both sides guide plate slides,
Guide plate both ends top surface is provided with stopper slot, and the spacing correction baffle plate of two movements is longitudinally arranged at guide plate both ends above leading screw
Spacing, mobile spacing correction baffle plate coordinates stopper slot to fix by bolt and trapezoidal nut.
Good effect of the present utility model is：It can be detected on direct of travel according to real-time in vehicle travel process in what comes into a driver's
Obstacle object point, and by its road ahead carry out space division, using dijkstra's algorithm planning vehicle obstacle-avoidance most preferably turn to road
Footpath；The lateral dynamic model travelled by establishing vehicle relative to the vehicle of the optimal avoidance turning path of planning, based on car
The distance of deviation and barrier between actual travel and turning path, establishes dimensional Gaussian potential field function, builds at wheel
Directed force；The positive force of returning that wheel in the directed force of structure and vehicle travel process is subject to is melted using appropriate weightings coefficient
Close, work together on deflecting roller, by the system model for turning to actuating motor and arriving deflecting roller of foundation, calculate and act on turn
The size of power on to motor；By suitable proportionality coefficient, it will act at the power in steering motor and be mapped on power electrification machine, from
And control moment motor is realized and the tactile of driver is guided.
The tactile feedback force of manipulation device output provides the tactile cue of foresight by manipulation device for driver, in car
It is most important in drive assist system.Tactile drive auxiliary can not only be driver make more preferable Driving Decision-making, provide can
The direction information leaned on, and avoid driver by vision and auditory information instruct visual fatigue that manipulative behavior faced,
The problems such as noise jamming.When driver drives, the drive signal of steering wheel not only includes people's hand-power of driver, in addition to is based on
The reaction torque of the directed force established of the planning optimal avoidance driving path of vehicle and road surface actual condition to wheel.Turn to
Disk feels that the corner forecast model in shared loop controls by power, produces " traction " and " teaching " effect to human hand, so as to for
Driver provides power and feels information alert, realizes tactile miscellaneous function during Vehicular turn.
Brief description of the drawings
Fig. 1 is overall structure front view of the present utility model.
Fig. 2 is overall structure top view of the present utility model.
Fig. 3 is that adjustable mechanical is spacing and aligning device overall structure figure.
Fig. 4 is that adjustable mechanical is spacing and aligning device guide board structure figure.
Fig. 5 is that adjustable mechanical is spacing and aligning device screw-nut structure figure.
Fig. 6 is the circuit system layout of the present invention.
Fig. 7 is the control system block diagram of the present invention.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings：As shown in figs. 1-7, it is a kind of that there is adjustable limiting and return
Positive power tactile guiding assistant steering device, is made up of transfer hardware components and electric machine control system, it is characterised in that：Side
Spacing and leading screw one end of aligning device 2 is connected to disk 1 and adjustable mechanical, adjustable mechanical is spacing and the leading screw of aligning device 2 is another
One end is connected by first shaft coupling 3 with the front end of torque sensor 4, and the rear end of torque sensor 4 passes through second shaft coupling 5 and torque
Decelerator 6 on motor 7 connects, and the rear end of torque motor 7 is disposed with incremental optical-electricity encoder 8, torque motor 7 and decelerator 6
Bottom is fixedly connected with bottom plate；
Electric machine control system includes moment inspecting module, motor control drive module；Leading screw is detected using torque sensor
The moment of torsion being subject to, carried out data transmission by serial ports with host computer using RS232；The power supply interface and power of BHOS8010 drivers
The feeder ear of torque motor is connected, and the RS232 communication interfaces on BHOS8010 drivers are connected with host computer serial ports, and BHOS8010 drives
The input interface of incremental encoder, incremental optical-electricity encoder is connected with driver, and pass through internal drive on dynamic device
Parameter setting, realize the closed-loop control to position.
Described adjustable mechanical is spacing and the leading screw 2-1 both ends of aligning device 2 are held 2-4 by angular contact type respectively and fixed
On bearing spider 2-3, bearing (ball) cover 2-2, two bearing spiders are bolted to connection on the outside of two bearing spider 2-3
Spring stop 2-5 is bolted to connection on the inside of 2-3, feed screw nut 2-10 is enclosed on medium position on leading screw 2-1, spring 2-
6 are enclosed on leading screw 2-1 upper leading screw nut 2-10 left and right ends, and there are guide plate 2-11, guide plate 2-11 both ends top surface in leading screw 2-1 both sides
Stopper slot 2-12 is provided with, a guide groove 2-13, feed screw nut 2-10 are provided with below guide plate 2-11 upper limit position grooves 2-12
Both sides limited location projection 2-14, feed screw nut 2-10 are coordinated and both sides guide plate 2- by spacing preiection 2-14 and guide groove 2-13
11 are slidably connected, and guide plate 2-11 both ends top surface is provided with stopper slot 2-12, and the spacing correction baffle plate 2-8 of two movements is longitudinally arranged
Bolt 2-9 and trapezoidal nut 2-7 are passed through to leading screw 2-1 uppermost limits, mobile spacing correction baffle plate 2-8 at guide plate 2-11 both ends
Stopper slot 2-12 is coordinated to fix.
Adjustable mechanical is spacing and the realization of aligning device return function：Can be with simulation true to nature by spring, screw mechanism
The sensation of actual steering；When feed screw nut is in an intermediate position, both ends are in the spring of compression position, feed screw nut is in flat
Weighing apparatus state；When feed screw nut deviation either side position, one end spring-compressed degree is deepened, and another lateral spring is relative to be loosened, silk
Thick stick nut force unbalance, because feed screw nut can only slide along medial launder, so as to which leading screw is driving steering wheel return just.
Adjustable mechanical is spacing and the realization of aligning device limit function：Can be relatively flat by the trapezoidal nut in guide groove
The distance of position of weighing adjusts spacing scope；Matched bolt makes trapezoidal nut produce between guide groove by tightening
Pretightning force fixes position-limit mechanism, and by the stop of stud so as to limit the range of movement of feed screw nut, postive stop baffle can be with addition
Ensure that the caging bolt of both sides is in and inclination is produced when same vertical position moves to prevent feed screw nut.
The tactile feedback force of manipulation device output provides the tactile cue of foresight by manipulation device for driver, in car
It is most important in drive assist system.Tactile drive auxiliary can not only be driver make more preferable Driving Decision-making, provide can
The direction information leaned on, and avoid driver by vision and auditory information instruct visual fatigue that manipulative behavior faced,
The problems such as noise jamming.When driver drives, the drive signal of steering wheel not only includes people's hand-power of driver, in addition to is based on
The reaction torque of the directed force established of the planning optimal avoidance driving path of vehicle and road surface actual condition to wheel.Turn to
Disk feels that the corner forecast model in shared loop controls by power, produces " traction " and " teaching " effect to human hand, so as to for
Driver provides power and feels information alert, realizes tactile miscellaneous function during Vehicular turn.
Claims (2)
1. a kind of guide assistant steering device with adjustable limiting and time positive power tactile, by transfer hardware components and motor
Control system forms, it is characterised in that：Steering wheel and adjustable mechanical are spacing and leading screw one end of aligning device is connected, adjustable mechanical
Spacing and aligning device the leading screw other end is connected by first shaft coupling with torque sensor front end, and torque sensor rear end leads to
Cross second shaft coupling to be connected with the decelerator on torque motor, torque motor rear end is disposed with incremental optical-electricity encoder, torque
Motor and decelerator bottom are fixedly connected with bottom plate；
Electric machine control system includes moment inspecting module, motor control drive module；Using torque sensor detection leading screw by
Moment of torsion, carried out data transmission by serial ports with host computer using RS232；The power supply interface of BHOS8010 drivers and torque electricity
The feeder ear of machine is connected, and the RS232 communication interfaces on BHOS8010 drivers are connected with host computer serial ports, BHOS8010 drivers
The input interface of upper incremental encoder, incremental optical-electricity encoder is connected with driver, and the ginseng for passing through internal drive
Number is set, and realizes the closed-loop control to position.
2. with adjustable limiting and return positive power tactile according to a kind of described in claim 1 and guide assistant steering device, its
It is characterised by that described adjustable mechanical is spacing and the leading screw both ends of aligning device are held by angular contact type be fixed on bearing respectively
On bearing, bearing (ball) cover is bolted to connection on the outside of two bearing spiders, passes through bolt on the inside of two bearing spiders
Spring stop is fixedly connected with, feed screw nut is enclosed on medium position on leading screw, and spring housing is in leading screw upper leading screw nut left and right ends, silk
There is guide plate thick stick both sides, and guide plate both ends top surface is provided with stopper slot, and a guide groove is provided with below guide plate upper limit position groove,
Feed screw nut both sides limited location is raised, and feed screw nut is coordinated by spacing preiection and guide groove to be connected with both sides guide plate slides,
The spacing correction baffle plate of two movements is longitudinally arranged passes through spiral shell at guide plate both ends to leading screw uppermost limit, mobile spacing correction baffle plate
Bolt and trapezoidal nut coordinate stopper slot to fix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720326620.3U CN206719311U (en) | 2017-03-30 | 2017-03-30 | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720326620.3U CN206719311U (en) | 2017-03-30 | 2017-03-30 | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206719311U true CN206719311U (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720326620.3U Expired - Fee Related CN206719311U (en) | 2017-03-30 | 2017-03-30 | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206719311U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284516A (en) * | 2017-03-30 | 2017-10-24 | 吉林大学 | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile |
| CN110843905A (en) * | 2019-12-17 | 2020-02-28 | 重庆达航工业有限公司 | Automatic aligning steering system |
| CN112537366A (en) * | 2019-09-20 | 2021-03-23 | 舍弗勒技术股份两合公司 | Steering wheel unit for detecting a steering movement of a steering wheel of an electromechanical steering system |
| CN113135226A (en) * | 2021-05-31 | 2021-07-20 | 重庆嘉陵全域机动车辆有限公司 | Electric control steering control mechanism of all-terrain vehicle |
-
2017
- 2017-03-30 CN CN201720326620.3U patent/CN206719311U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284516A (en) * | 2017-03-30 | 2017-10-24 | 吉林大学 | It is a kind of to guide assistant steering device with adjustable limiting and time positive power tactile |
| CN112537366A (en) * | 2019-09-20 | 2021-03-23 | 舍弗勒技术股份两合公司 | Steering wheel unit for detecting a steering movement of a steering wheel of an electromechanical steering system |
| CN110843905A (en) * | 2019-12-17 | 2020-02-28 | 重庆达航工业有限公司 | Automatic aligning steering system |
| CN113135226A (en) * | 2021-05-31 | 2021-07-20 | 重庆嘉陵全域机动车辆有限公司 | Electric control steering control mechanism of all-terrain vehicle |
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| Date | Code | Title | Description |
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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: 20171208 Termination date: 20200330 |
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| CF01 | Termination of patent right due to non-payment of annual fee |