CN207523780U - A kind of automobile steering-by-wire executing agency and auto steerer - Google Patents
A kind of automobile steering-by-wire executing agency and auto steerer Download PDFInfo
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- CN207523780U CN207523780U CN201721239916.8U CN201721239916U CN207523780U CN 207523780 U CN207523780 U CN 207523780U CN 201721239916 U CN201721239916 U CN 201721239916U CN 207523780 U CN207523780 U CN 207523780U
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Abstract
The utility model discloses a kind of automobile steering-by-wire executing agency and auto steerers, wherein steering-by-wire executing agency includes the first sleeve motor, second sleeve motor, by the first sleeve motor and/or the motor-driven planet roller screw mechanism of second sleeve, the planet roller screw mechanism includes leading screw, the first ring gear, the second ring gear that are engaged with leading screw meshed gears roller and simultaneously with gear roller, first ring gear is by the first sleeve motor-driven rotation, and second ring gear is by second sleeve motor-driven rotation.The utility model makes full use of the axial space of rack and drag link protective case to reduce motor radial dimension, and transmission efficiency using double sleeve motors and planet roller screw mechanism.
Description
Technical field
The utility model is related to technical field of automobile parts, and in particular to Prospects of Automobile Steering-By-Wire.
Background technology
Vehicle intellectualized to develop rapidly, steering-by-wire is the key link in vehicle intellectualized evolution, especially
It is one of unpiloted indispensable technology.Steering-by-wire technology is gradually ripe, has been applied in a small amount of vehicle.Steering-by-wire system
System requires redundancy and fault tolerance, not only needs to realize diagnosis and fault-tolerant control algorithm on software, it is also desirable to which hardware carries out
Redundancy Design causes wire-controlled steering system hardware layout complicated, and of high cost, hardware utilization is low.
Steering-by-wire technical research at present has very much, wherein the double generator redundancy steering-by-wire of Infiniti company design
System has succeeded to be applied in Q50 real vehicles, and the system is small in the design motor speed device driving steering gear of rack left and right ends respectively
Gear, band carry-over bar move left and right, and clutch is closed during failure, and left-hand diverter pinion gear connect realization with mechanical steering tubing string
It turns to, but the system redundancy is complicated, bi-motor drives track rod, transmission by retarder through rack and pinion steering gear
Efficiency is low.Hyundai motor corporation proposes the steer by wire apparatus of Dual-motors Driving rack and the method (patent No.
US201600144890A1), which does not solve the steering pattern of motor space installation question and bi-motor failure.Becker etc.
It is proposed a kind of wire-controlled steering system (patent No. US20160068182A1) of electric-controlled hydraulic, which passes through two-way electric-motor pump control
System turn to wheel cylinder pressure, driving both sides drag link move left and right, but motor establish hydraulic pressure response speed it is slow, high pressure oil pipeline
Increased oil leak and there are unreliable factors such as bubbles, and can not realize the direct mechanical connection after steering-by-wire failure.Yang Lin
Etc. utility models a kind of mixed type wire-controlled steering system (patent No. 201610989594.2), the system road feel motor and power-assisted
Motor separates, and only drives two-row planetary gear retarder, then drive drag link left through worm rack with a set of steering actuating motor
It moves right, between steering wheel and deflecting roller there is force transfering characteristic controllable in real time and angle transmission characteristic, lead in thrashing
It crosses clutch and is restored to mechanical steering state, but the system structure is complicated and transmission efficiency is low.Yu Leiyan devises a kind of electronic
Automobile steer-by-wire system and control method (patent No. 201310649410.4), the system devise steering wheel force feedback motor
Road feel is simulated with worm reducer, steering motor and planetary reducer driving steering gear pinion gear are realized and turned to, steering gear
It nearby installs motor and planetary reducer additional, needs to occupy more arrangement spaces, drop is transferred to through rack and pinion steering gear
Low motor working efficiency, and can not achieve the steering pattern of motor failure.
To sum up, there are transmission efficiency is low, complicated and difficulty in arrangement and redundancy and mistake for existing wire-controlled steering system
Imitate the contradiction between operating mode demand.
Utility model content
Technical problem to be solved in the utility model is just to provide a kind of compact-sized, transmission efficiency automobile line traffic control
Turn to executing agency.
In order to solve the above technical problems, the utility model adopts the following technical solution：A kind of automobile steering-by-wire performs machine
Structure is rolled including the first sleeve motor, second sleeve motor, by the first sleeve motor and/or the motor-driven planet of second sleeve
Column screw mechanism, the planet roller screw mechanism include leading screw, are rolled with leading screw meshed gears roller and simultaneously with gear
The first ring gear, the second ring gear of column engagement, first ring gear is by the first sleeve motor-driven rotation, in described second
Gear ring is by second sleeve motor-driven rotation.
Preferably, one, second ring gear and second is made in first ring gear and the first sleeve rotor
One is made in sleeve rotor.
The utility model additionally provides a kind of auto steerer, the steering column that is connect including steering wheel, with steering wheel,
The left side wheel steering gear being connect with left side wheel, the right side wheels steering gear being connect with right side wheels, with
And the mechanical steering transmission mechanism being connect by electromagnetic clutch with steering column, the steering column through retarder and road feel/
Assist motor connects, and the transfer further includes above-mentioned steering-by-wire executing agency, under electromagnetic clutch attracting state,
The mechanical steering transmission mechanism driving left side wheel steering gear and the action of right side wheels steering gear are so as to drive
Dynamic left side wheel and right side wheels rotation, in electromagnetic clutch when it is disconnected, planet roller screw mechanism driving left side wheel
Steering gear and the action of right side wheels steering gear are so as to drive left side wheel and right side wheels to rotate
Preferably, the mechanical steering transmission mechanism includes the steering gear pinion gear and rack of engaged transmission, the steering
Device pinion gear is connect through electromagnetic clutch with steering column.
Preferably, the left side wheel steering gear includes the left drag link being connect with rack, connects with left drag link
The left tie rod arm connect, the left steering section being connect with left tie rod arm, the left steering section are connect with left side wheel, the right side wheels
Steering gear includes the right drag link being connect with rack, the right tie rod arm being connect with right drag link, is connect with right tie rod arm
Right turn section, the right turn section connect with right side wheels.
The utility model uses above-mentioned technical proposal, has the advantages that：
1st, it is compact-sized, it is easy to arrange：The utility model is using double sleeve motors and planet roller screw mechanism, fully profit
Reduce motor radial dimension with the axial space of rack and drag link protective case, do not increase motor reducer near steering gear
Structure can continue to use tradition machinery formula steering arrangement；
2nd, transmission efficiency：The utility model uses planet roller screw mechanism, and transmission efficiency is easy to improve heavy load
Double sleeve motor driving consistency during work, and need not move through steering gear and directly drive rack and track rod, it can also carry
High transmission efficiency；
3rd, it runs at high speed stabilization：The utility model can ensure that steering-by-wire process is put down by controlling the precise displacement of rack
Surely, second sleeve motor reversal, which provides, and during galloping turns to damping force, improves the stability of motor turning；
4th, it turns to reliable：The utility model is realized hardware configuration redundancy and electromagnetic clutch using double sleeve motors and is turned
Mechanical steering when realizing line traffic control failure to tubing string, has ensured the reliability of steering.
Description of the drawings
The utility model is further described with reference to the accompanying drawings and detailed description：
Fig. 1 is a kind of principle schematic of sleeve motor steer by wire apparatus of the utility model；
Fig. 2 be the utility model a kind of sleeve motor steer by wire apparatus in steering-by-wire executing agency principle signal
Figure；
Fig. 3 is a kind of flow chart of sleeve motor line traffic control rotating direction control method of the utility model.
In figure, 1- steering wheels, 2- steering wheel sensors, 3- steering columns, 4- retarders, 5- electromagnetic clutch, 6- is automatically controlled
Unit, 7- road feels/assist motor, 8- left side wheels, 9- left steering sections, the left tie rod arms of 10-, the left drag links of 11-, 12- racks,
13- steering gear pinion gears, 14- steering-by-wires executing agency, 15- the first sleeve motors, 16- leading screws, 17- planetary roller screw machines
Structure, 18- second sleeve motors, the right drag links of 19-, the right tie rod arms of 20-, 21- right turn sections, 22- right side wheels, 23- first sets
The stator coil of cylinder motor, 24- the first sleeve rotors, the first ring gears of 25-, 26- gear rollers, 27- second sleeves electricity
The stator coil of machine, 28- second sleeve rotors, the second ring gears of 29-.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to this practicality
Novel and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, shall fall within the protection scope of the present invention.
A kind of auto steerer as depicted in figs. 1 and 2, the steering wheel being connect including steering wheel 1, with steering wheel 1 pass
Sensor 2 and steering column 3, the left side wheel steering gear being connect with left side wheel 8, the right side being connect with right side wheels 22
Wheel steering transmission mechanism and the mechanical steering transmission mechanism being connect by electromagnetic clutch 5 with steering column 3, described turn
It is connect to tubing string 3 through retarder 4 with road feel/assist motor 7.
In addition, the auto steerer further includes steering-by-wire executing agency 14.The steering-by-wire executing agency 14
Including the first sleeve motor 15, second sleeve motor 18, the row driven by the first sleeve motor 15 and/or second sleeve motor 18
Star roller screw mechanism 17, under 5 attracting state of electromagnetic clutch, the mechanical steering transmission mechanism driving left side wheel turns to
Transmission mechanism and right side wheels steering gear action so as to which left side wheel 8 and right side wheels 22 be driven to rotate, electromagnetism from
When it is disconnected, mechanical steering transmission mechanism does not turn to driver to clutch 5 with left side wheel steering gear and right side wheels
Structure acts on, and left side wheel steering gear and right side wheels steering gear is driven to act by planet roller screw mechanism 17
So as to which left side wheel 8 and right side wheels 22 be driven to rotate.
In the present embodiment, the planet roller screw mechanism 17 includes leading screw 16 and 16 meshed gears roller of leading screw
26 and the first ring gear 25, the second ring gear 29 that are engaged simultaneously with gear roller 26.The first sleeve motor 15 includes
The 23 and first sleeve rotor 24 of stator coil of first sleeve motor.The second sleeve motor 18 includes second sleeve electricity
The stator coil 27 of machine and second sleeve rotor 28.Moreover, the 25 and first sleeve rotor 24 of the first ring gear
One is made, one is made with second sleeve rotor 28 in second ring gear 29, to facilitate the assembling in later stage.
Steering gear pinion gear 13 and rack 12, the steering gear of the mechanical steering transmission mechanism including engaged transmission are small
Gear 13 is connect through electromagnetic clutch 5 with steering column 3, and the left side wheel steering gear includes what is connect with rack 12
Left drag link 11, the left tie rod arm 10 being connect with left drag link 11, the left steering section 9 being connect with left tie rod arm 10, the left-hand rotation
9 connect to section with left side wheel 8, the right side wheels steering gear include the right drag link 19 being connect with rack 12 and
The right tie rod arm 20 of the right connection of drag link 19, the right turn section 21 being connect with right tie rod arm 20, the right turn section 21 and right side
Wheel 22 connects, and rack 12 is connect with leading screw 16.
In addition, based on above-mentioned automobile steering-by-wire device, the utility model also proposed corresponding steering-by-wire control
Method, as shown in figure 3, electronic control unit (ECU) 6 acquires the torque of steering wheel sensor 2 and angular signal, speed signal, sideway
Angular velocity signal and rack displacement signal, and the system failure is carried out according to steering wheel angle, rack displacement and current of electric and is examined
It is disconnected, it judges whether failure, needs to provide which electrical fault if there are single motor failure or two motors exist
Failure respectively enters steering-by-wire redundant mode and steering-by-wire failure mode；If motor status is normal, according to speed whether
Reach 80km/h and respectively enter and steering-by-wire pattern and galloping steering-by-wire pattern are run at a low speed in automobile.Therefore,
The utility model proposes steering-by-wire control method include following operating mode：
First, steering-by-wire pattern is run at a low speed in automobile：
Electronic control unit 6 sends out instruction, and electromagnetic clutch 5 disconnects.Electronic control unit 6 is known by steering wheel angle and torque signal
The steering of other driver is intended to, and using the displacement of rack 12 as feedback signal, is moved according to speed and yaw velocity application automobile
Theory of mechanics calculate sleeve motor driving current size, be averagely input to the first sleeve motor stator coil 23 and second set
The stator coil 27 of cylinder motor, then the first sleeve rotor 24 the first integrally manufactured ring gear 25 is driven to rotate forward and second
Sleeve rotor 28 drives the second integrally manufactured ring gear 29 to rotate forward, while provide steering moment.First ring gear, 25 He
Drive gear roller 26 rotates second ring gear 29 simultaneously, and is equivalent to the leading screw 16 of planetary reduction gear sun gear in circumferencial direction
Not rotating can regard fixed as, therefore motor torque is defeated by gear roller 26 after planet roller screw mechanism 17 slows down and increases square
Go out, by the translation for being converted into leading screw 16 of gear roller 26, left side is through rack 12, left drag link 11, left tie rod arm 10, a left side
Knuckle 9 drives left side wheel 8 to rotate, and right side drives right side wheels 22 through right drag link 19, right tie rod arm 20, right turn section 21
Rotation.Electronic control unit 6 calculates size of current needed for aligning torque and road feel, control according to 12 Displacement Estimation rack force of rack simultaneously
7 electric current of road feel/assist motor processed, provides driver's steering response.
2nd, galloping steering-by-wire pattern：
Electronic control unit 6 sends out instruction, and electromagnetic clutch 5 disconnects.Electronic control unit 6 is known by steering wheel angle and torque signal
The steering of other driver is intended to, using 12 displacement of rack as feedback signal, according to speed and yaw velocity application automobile power
Size of current needed for the driving current and damping force of theory calculating sleeve motor is separately input to the stator of the first sleeve motor
The stator coil 27 of coil 23 and second sleeve motor, then the first sleeve rotor 24 drive the first integrally manufactured ring gear
25 rotating forwards provide steering moment and second sleeve rotor 28 drives the second integrally manufactured ring gear 29 to invert offer damping
Power.First ring gear, 25 drive gear roller 26 rotates, and the second ring gear 29 can be used as load limitation to turn to overshoot, i.e. motor force
Square is exported after planet roller screw mechanism 17 slows down and increases square by gear roller 26, and the rotation of gear roller 26 is converted into leading screw
16 translation, left side drive left side wheel 8 to rotate through rack 12, left drag link 11, left tie rod arm 10, left steering section 9, right side warp
Right drag link 19, right tie rod arm 20, right turn section 21 drive right side wheels 22 to rotate.Electronic control unit 6 is according to rack 12 simultaneously
Estimation rack force is moved, calculates size of current needed for aligning torque and road feel, 7 electric current of road feel/assist motor is controlled, driver is provided
Steering response.
3rd, steering-by-wire redundant mode：
When electronic control unit 6 diagnoses one of sleeve motor operation irregularity, abnormal motor power supply, control normal work are cut off
Sleeve motor rotates forward.
Illustrate by taking 15 failure of the first sleeve motor as an example.Electronic control unit 6 sends out instruction, and electromagnetic clutch 5 disconnects, first set
Cylinder motor 15 powers off.Electronic control unit 6 identifies that the steering of driver is intended to by steering wheel angle and torque signal, with rack 12
It moves as feedback signal, according to speed and the electric current of yaw velocity application automobile dynamics theoretical calculation second sleeve motor 18
Size is input to the stator coil 27 of second sleeve motor, then second sleeve rotor 28 is driven in integrally manufactured second
Gear ring 29, which rotates forward, provides steering moment.Second ring gear, 29 drive gear roller 26 rotates, i.e., motor torque is through planetary roller silk
The deceleration of thick stick mechanism 17 is exported after increasing square by gear roller 26, by the translation for being converted into leading screw 16 of gear roller 26, left side
Left side wheel 8 is driven to rotate through rack 12, left drag link 11, left tie rod arm 10, left steering section 9, right side is through right drag link 19, the right side
Tie rod arm 20, right turn section 21 drive right side wheels 22 to rotate.Electronic control unit 6 is according to 12 Displacement Estimation rack force of rack simultaneously,
Size of current needed for aligning torque and road feel is calculated, 7 electric current of road feel/assist motor is controlled, driver's steering response is provided.
4th, steering-by-wire failure mode：
When power down is failed, 5 normally closed actuation of electromagnetic clutch, steering column 3 and steering gear pinion gear 13 by electromagnetism from
Clutch 5 is mechanically connected, then wire-controlled steering system is restored to tradition machinery formula steering.When the equal failure of two motors or sensor
During malfunction and failure, electronic control unit 6 sends out instruction, and the power-off of electromagnetic clutch 5 is attracted, the first sleeve motor 15 and the first sleeve motor
18 power-off.Electronic control unit 6 calculates size of current needed for power-assisted by steering wheel angle/torque signal and speed signal, controls road
The reverse current of sense/assist motor 7, driving retarder 4 provide power steering.Driver's steering moment is through steering wheel 1 to steering
Tubing string 3 is superimposed with 7 assist torque of road feel/assist motor, and steering gear pinion gear 13, band carry-over bar 12 are passed to through electromagnetic clutch 5
Left side wheel 8 is driven to rotate through left drag link 11, left tie rod arm 10, left steering section 9, right side is through leading screw 16, right drag link 19, the right side
Tie rod arm 20, right turn section 21 drive right side wheels 22 to rotate.
It is also desirable to further illustrate, the utility model is based on sleeve motor steer by wire apparatus, it is proposed that right
The steering-by-wire control method answered, wherein, how by steering wheel angle, torque, speed and yaw velocity calculate ideal tooth
How displacement, control the first sleeve motor and second sleeve current of electric size, how to control road feel/assist motor electric current big
It is small to provide the suitable road feel of driver, those skilled in the art can be according to the utility model disclosure, and combines specific
Vehicle parameter specifically study and calculate.
Since gear roller 26 is not translatable, only rotate, 12 displacement of rack and 16 displacement of leading screw are equal, therefore, can pass through
The corner for measuring ring gear calculates acquisition 12 displacement of rack.
In addition, electronic control unit 6 acquires the torque of steering wheel sensor 2 and angular signal, speed signal, yaw velocity letter
Number and rack displacement signal, and according to steering wheel angle, rack displacement and current of electric carry out system fault diagnosis, judge to cover
Cylinder motor belongs to ordinary skill in the art means, details are not described herein with the presence or absence of failure.
In the present embodiment, it is 80km/h, certainly, this field that the critical point with galloping is run at a low speed in automobile
Technical staff it is understood that can also carry out a degree of increase and decrease in practice.
In addition to above preferred embodiment, the utility model also has other embodiments, and those skilled in the art can root
It is made various changes and modifications according to the utility model, without departing from the spirit of the utility model, the utility model should all be belonged to
Range as defined in the claims.
Claims (5)
1. a kind of automobile steering-by-wire executing agency, it is characterised in that：Including the first sleeve motor, second sleeve motor, by
One sleeve motor and/or the motor-driven planet roller screw mechanism of second sleeve, the planet roller screw mechanism include silk
Thick stick, the first ring gear, the second ring gear engaged with leading screw meshed gears roller and simultaneously with gear roller, described first
Ring gear is by the first sleeve motor-driven rotation, and second ring gear is by second sleeve motor-driven rotation.
2. a kind of automobile steering-by-wire executing agency according to claim 1, it is characterised in that：First ring gear with
One is made in first sleeve rotor, and one is made with second sleeve rotor in second ring gear.
3. a kind of auto steerer, the steering column being connect including steering wheel, with steering wheel, the left side being connect with left side wheel
Wheel steering transmission mechanism, the right side wheels steering gear being connect with right side wheels and by electromagnetic clutch with turn
The mechanical steering transmission mechanism connected to tubing string, the steering column are connect through retarder with road feel/assist motor, and feature exists
In：The transfer further includes steering-by-wire executing agency described in claims 1 or 2, and shape is attracted in electromagnetic clutch
Under state, mechanical steering transmission mechanism driving left side wheel steering gear and the action of right side wheels steering gear from
And left side wheel and right side wheels is driven to rotate, and in electromagnetic clutch when it is disconnected, planet roller screw mechanism driving left side
Wheel steering transmission mechanism and the action of right side wheels steering gear are so as to drive left side wheel and right side wheels to rotate.
4. a kind of auto steerer according to claim 3, it is characterised in that：The mechanical steering transmission mechanism includes
The steering gear pinion gear and rack, the steering gear pinion gear of engaged transmission are connect through electromagnetic clutch with steering column.
5. a kind of auto steerer according to claim 4, it is characterised in that：The left side wheel steering gear
Including the left drag link being connect with rack, the left tie rod arm being connect with left drag link, the left steering section being connect with left tie rod arm, institute
Left steering section is stated to connect with left side wheel, the right side wheels steering gear include connect with rack right drag link, and
The right tie rod arm of right drag link connection, the right turn section being connect with right tie rod arm, the right turn section are connect with right side wheels.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721239916.8U CN207523780U (en) | 2017-09-26 | 2017-09-26 | A kind of automobile steering-by-wire executing agency and auto steerer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721239916.8U CN207523780U (en) | 2017-09-26 | 2017-09-26 | A kind of automobile steering-by-wire executing agency and auto steerer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792168A (en) * | 2017-09-26 | 2018-03-13 | 浙江万达汽车方向机股份有限公司 | Sleeve motor steer-by-wire device and control method |
| CN111267947A (en) * | 2020-02-11 | 2020-06-12 | 常熟理工学院 | Vehicle automatic steering device based on fractional calculus transformation |
| CN112874628A (en) * | 2021-02-02 | 2021-06-01 | 南京经纬达汽车科技有限公司 | Wire-controlled redundant steering system with failure protection function and control method thereof |
| CN114929555A (en) * | 2019-12-26 | 2022-08-19 | 洛德公司 | Compliant shaft-rotor coupling for improved endstop exit |
-
2017
- 2017-09-26 CN CN201721239916.8U patent/CN207523780U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792168A (en) * | 2017-09-26 | 2018-03-13 | 浙江万达汽车方向机股份有限公司 | Sleeve motor steer-by-wire device and control method |
| CN107792168B (en) * | 2017-09-26 | 2024-03-01 | 浙江万达汽车方向机有限公司 | Sleeve motor steer-by-wire device and control method |
| CN114929555A (en) * | 2019-12-26 | 2022-08-19 | 洛德公司 | Compliant shaft-rotor coupling for improved endstop exit |
| CN111267947A (en) * | 2020-02-11 | 2020-06-12 | 常熟理工学院 | Vehicle automatic steering device based on fractional calculus transformation |
| CN111267947B (en) * | 2020-02-11 | 2021-03-30 | 常熟理工学院 | Vehicle automatic steering device based on fractional calculus transformation |
| CN112874628A (en) * | 2021-02-02 | 2021-06-01 | 南京经纬达汽车科技有限公司 | Wire-controlled redundant steering system with failure protection function and control method thereof |
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Address after: 311258 No. 28, Xiangshan Road, Wenyan street, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG WANDA STEERING GEAR Co.,Ltd. Patentee after: Nanjing University of Aeronautics & Astronautics Address before: No.28 Xiangshan Road, Wenyan Town, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG WANDA STEERING GEAR CO.,LTD. Patentee before: Nanjing University of Aeronautics & Astronautics |