CN207747931U - A kind of double generator redundancy steer by wire apparatus - Google Patents
A kind of double generator redundancy steer by wire apparatus Download PDFInfo
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- CN207747931U CN207747931U CN201721749826.3U CN201721749826U CN207747931U CN 207747931 U CN207747931 U CN 207747931U CN 201721749826 U CN201721749826 U CN 201721749826U CN 207747931 U CN207747931 U CN 207747931U
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Abstract
The utility model discloses a kind of double generator redundancy steer by wire apparatus, including electronic control unit ECU, torque sensor, motor, steering gear rack, steering gear pinion gear, steering-by-wire mechanism.The electronic control unit ECU of the device judges that driver turns to and is intended to, when steering-by-wire mechanism works normally, electromagnetic clutch disconnects, and motor plays the role of providing road feel, and roller screw steering mechanism completes steering order by acquiring steering wheel angle signal；When steering-by-wire mechanism-trouble, electromagnetic clutch closes, motor reversal, and steering gear pinion gear and steering gear rack complete steering order, plays the role of providing power steering.The utility model is simple for structure, and accuracy is high, reliable operation, and roller screw steering mechanism can accurately control steering displacement, while the device can also automatically restore to mechanical steering state when line traffic control steering mechanism fails, and complete steering order.
Description
Technical field
The present invention relates to a kind of double generator redundancy steer by wire apparatus.
Background technology
Vehicle intellectualized to develop rapidly, steering-by-wire is the key link in vehicle intellectualized evolution.Line traffic control
Steering technique is gradually ripe, has been applied in all kinds of vehicles.Wire-controlled steering system generally has fault tolerance, this needs a large amount of
Accurate algorithm causes wire-controlled steering system hardware layout complicated, and cost is higher, and hardware utilization is low.
In order to solve the problems, such as that above system fault tolerance is complicated, for domestic existing Research foundation, wherein Beijing University of Science ＆ Engineering
A kind of " mixed type wire-controlled steering system " (application number 201610989594.2) of the inventions such as Yang Lin, Wu Zhicheng of university, this is
There is controllable in real time force transfering characteristic and angle transmission characteristic between the steering wheel and deflecting roller of system, it is automatically extensive in thrashing
Mechanical steering state is arrived again.But the system control sytsem is complicated, Redundant Control amount is excessive, while System Error-tolerance Property improves
Increase the difficulty of Control System Design.
Invention content
To solve the deficiencies in the prior art, the purpose of the present invention is to provide a kind of double generator redundancy steer by wire apparatus and
Its control method, it is simple in structure, the stability of automobile steering-by-wire can be improved.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
A kind of double generator redundancy steer by wire apparatus, characterized in that including steering wheel, steering column, retarder, motor,
Electronic control unit, steering gear rack, planet carrier and planetary gear；The retarder includes coaxial gear wheel and pinion gear；It is described
The pinion gear and motor coaxle of retarder；
The steering column is disposed with steering wheel, steering wheel sensor, the gear wheel of retarder, electromagnetism from top to bottom
Clutch and steering gear pinion gear；
The steering gear pinion gear is engaged with steering gear rack；The both sides of the steering gear rack are sequentially connected drag link
And wheel；
The planet carrier uses bilateral symmetry, middle section to coordinate with steering gear rack, and the both ends of planet carrier are in
Gear-like is engaged with planetary gear respectively；The planetary gear other end is respectively connected with motor；
The electronic control unit is used to acquire torque, the angular signal of steering wheel sensor, automobile speed, yaw velocity letter
Number, the steering-by-wire displacement signal of steering gear rack.
A kind of double generator redundancy steer by wire apparatus above-mentioned, characterized in that the planet carrier uses I-shaped structure.
A kind of double generator redundancy steer by wire apparatus above-mentioned, characterized in that be provided with rolling on the inside of the steering gear rack
Column leading screw；The planet carrier middle section is connected with roller screw.
The advantageous effect that the present invention is reached：1) fault-tolerance is high：The present invention is controlled using double generator redundancy, while auxiliary with teeth
Take turns rack steering gear, the operation is stable, fault-tolerance height；2) driving stability：The steering-by-wire process of the present invention is steady, improves automobile and turns
To stability；3) control is accurate：The present invention uses planet roller screw mechanism, accurately controls steering displacement, accurate real
Existing driver, which turns to, to be intended to；4) driving intention is not influenced：Apparatus of the present invention do not change the intention of driver when working, improve automobile
Riding stability.
Description of the drawings
Fig. 1 is the schematic diagram of the bi-motor steer by wire apparatus of the present invention.
The meaning of reference numeral in figure：
1- steering wheels, 2- steering columns, 3- steering wheel sensors, 4- retarders, 5- motors, 6- electromagnetic clutch, 7- electricity
Control unit ECU, 8- steering gear pinion gear, 9- steering gear racks, 10- planet carriers, 11- left lateral star-wheels, the left motors of 12-, the left sides 13-
Drag link, 14- left side wheels, 15- right lateral star-wheels, the right motors of 16-, the right drag links of 17-, 18- right side wheels, a- torques, b- turn
Angle, c- speeds, d- yaw velocities, e- displacements.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
A kind of double generator redundancy steer by wire apparatus of the present invention, including steering wheel, steering column, retarder, electricity
Mechanical, electrical control unit, steering gear rack, planet carrier and planetary gear.Retarder includes coaxial gear wheel and pinion gear.Retarder
Pinion gear and motor coaxle.The motor used in the present invention can functionally be used as road feel motor to make for road feel/assist motor
With, can also be used as assist motor use.
Steering column is disposed with steering wheel, steering wheel sensor, the gear wheel of retarder, electromagnetic clutch from top to bottom
Device and steering gear pinion gear.Steering gear pinion gear is engaged with steering gear rack.The both sides of steering gear rack are sequentially connected horizontal drawing
Bar and wheel.Planet carrier uses bilateral symmetry, middle section to coordinate with steering gear rack, and the both ends of planet carrier are in gear
Shape is engaged with planetary gear respectively.The planetary gear other end is respectively connected with motor.In the present embodiment, planet carrier uses I-shaped structure,
Roller screw is provided on the inside of steering gear rack, planet carrier middle section is connected with roller screw.
The present invention has the following technical effects using above technical scheme is compared with the prior art：
1. fault-tolerance is high：The present invention is controlled using double generator redundancy, at the same it is auxiliary have a rack and pinion steering gear, the operation is stable,
Fault-tolerance is high；
2. driving stability：The steering-by-wire process of the present invention is steady, improves the stability of motor turning；
3. control is accurate：The present invention uses planet roller screw mechanism, accurately controls steering displacement, and accurate realize is driven
The person of sailing, which turns to, to be intended to；
4. not influencing driving intention：Apparatus of the present invention do not change the intention of driver when working, the traveling for improving automobile is steady
It is qualitative.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of double generator redundancy steer by wire apparatus, characterized in that mechanical, electrical including steering wheel, steering column, retarder, electricity
Control unit, steering gear rack, planet carrier and planetary gear；The retarder includes coaxial gear wheel and pinion gear；It is described to subtract
The pinion gear and motor coaxle of fast device；
The steering column is disposed with steering wheel, steering wheel sensor, the gear wheel of retarder, electromagnetic clutch from top to bottom
Device and steering gear pinion gear；
The steering gear pinion gear is engaged with steering gear rack；The both sides of the steering gear rack are sequentially connected drag link and vehicle
Wheel；
The planet carrier uses bilateral symmetry, middle section to coordinate with steering gear rack, and the both ends of planet carrier are in gear
Shape is engaged with planetary gear respectively；The planetary gear other end is respectively connected with motor；
Torque, angular signal of the electronic control unit for acquiring steering wheel sensor, automobile speed, yaw rate signal,
The steering-by-wire displacement signal of steering gear rack.
2. a kind of double generator redundancy steer by wire apparatus according to claim 1, characterized in that the planet carrier uses work
Font structure.
3. a kind of double generator redundancy steer by wire apparatus according to claim 1, characterized in that in the steering gear rack
Side is provided with roller screw；The planet carrier middle section is connected with roller screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721749826.3U CN207747931U (en) | 2017-12-15 | 2017-12-15 | A kind of double generator redundancy steer by wire apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721749826.3U CN207747931U (en) | 2017-12-15 | 2017-12-15 | A kind of double generator redundancy steer by wire apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747931U true CN207747931U (en) | 2018-08-21 |
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| CN201721749826.3U Active CN207747931U (en) | 2017-12-15 | 2017-12-15 | A kind of double generator redundancy steer by wire apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
| CN109733469A (en) * | 2019-01-28 | 2019-05-10 | 北京华田汽车科技有限公司 | The automatically controlled steering system of multi power source actuation |
| CN109850007A (en) * | 2018-12-28 | 2019-06-07 | 山东先河荣悦智能科技有限公司 | A kind of electri forklift line traffic control force aid system and power assist control method |
| CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
| WO2022143805A1 (en) * | 2020-12-30 | 2022-07-07 | 比亚迪股份有限公司 | Vehicle steering system, and vehicle having same |
| CN114889689A (en) * | 2022-05-13 | 2022-08-12 | 一汽解放青岛汽车有限公司 | Steering device and arrangement scheme thereof |
| CN114987605A (en) * | 2022-06-29 | 2022-09-02 | 燕山大学 | Wire-controlled independent steering system and fault-tolerant control method thereof |
-
2017
- 2017-12-15 CN CN201721749826.3U patent/CN207747931U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953928A (en) * | 2017-12-15 | 2018-04-24 | 南京航空航天大学 | A kind of double generator redundancy steer by wire apparatus and its control method |
| CN109850007A (en) * | 2018-12-28 | 2019-06-07 | 山东先河荣悦智能科技有限公司 | A kind of electri forklift line traffic control force aid system and power assist control method |
| CN109733469A (en) * | 2019-01-28 | 2019-05-10 | 北京华田汽车科技有限公司 | The automatically controlled steering system of multi power source actuation |
| CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
| CN111152835B (en) * | 2020-01-13 | 2020-11-06 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
| WO2022143805A1 (en) * | 2020-12-30 | 2022-07-07 | 比亚迪股份有限公司 | Vehicle steering system, and vehicle having same |
| CN114889689A (en) * | 2022-05-13 | 2022-08-12 | 一汽解放青岛汽车有限公司 | Steering device and arrangement scheme thereof |
| CN114987605A (en) * | 2022-06-29 | 2022-09-02 | 燕山大学 | Wire-controlled independent steering system and fault-tolerant control method thereof |
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