CN214607701U - Wire control redundant steering system with failure protection function - Google Patents
Wire control redundant steering system with failure protection function Download PDFInfo
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- CN214607701U CN214607701U CN202120293118.3U CN202120293118U CN214607701U CN 214607701 U CN214607701 U CN 214607701U CN 202120293118 U CN202120293118 U CN 202120293118U CN 214607701 U CN214607701 U CN 214607701U
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Abstract
The utility model discloses a redundant a steering system of drive-by-wire with fail safeguard function and control method thereof, this a steering system include steering wheel, steering wheel axle, tie rod, left and right front wheel, corner torque sensor, automatically controlled unit, and: the steering wheel force feedback mechanism comprises a force feedback motor and a force feedback transmission device; the main steering mechanism comprises a main steering motor and a main steering transmission device; the backup steering mechanism comprises a planetary gear set and a planetary gear set output shaft, a steering wheel shaft is connected with the input end of the planetary gear set, and the planetary gear set output shaft and the steering tie rod are driven by a backup steering transmission component; the backup steering mechanism further comprises a tightening device used for locking and loosening the gear ring of the planetary gear set and a backup steering driving motor. The utility model discloses a backup steering mechanism realizes the vehicle steering under the main steering mechanism trouble condition of failure, and the structure is simpler, and the function is abundanter, control is more sensitive.
Description
Technical Field
The utility model relates to an automobile steering system, especially a redundant steering system of drive-by-wire.
Background
With the development of the automatic driving technology, the development of the steer-by-wire technology is more and more emphasized. Compared with the traditional steering system, the wire control redundant steering system is more flexible in structural arrangement, different angle transmission and force transmission characteristics can be designed according to requirements, and the wire control redundant steering system has remarkable advantages in the aspects of operation stability and safety of vehicles. Because a mechanical connecting part between a steering wheel and front wheels is eliminated, a force feedback motor is required to provide force for a driver, and meanwhile, an Electronic Control Unit (ECU) is also required to transmit the steering intention of the driver to a steering motor through an electric signal so as to drive the vehicle to steer. However, the transmission of the electrical signal and the motor control cannot be guaranteed to be absolutely correct, so when designing a steer-by-wire redundant steering system, the fault tolerance function of the system needs to be taken into consideration to avoid steering failure.
At present, more fault tolerance methods for a wire-controlled redundant steering system exist, for example, the invention patent with the publication number of CN109774786A and the name of 'a multi-mode power-assisted steering system based on wire-controlled steering and a control method thereof' adopts a method for carrying out system failure cold backup by a clutch, but the system failure cold backup method needs to be realized by arranging the clutch, and the method increases the complexity of the system structure and the control. In addition, the hydraulic transmission device is adopted for steering, so that the occupied space is large, and the maintenance is difficult. Therefore, a failure backup method for the line-control redundant steering system, which has a simpler structure and is sensitive to control, is needed.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a redundant steering system by wire having a simpler structure and an invalid protection function to solve the problems of the prior art.
According to the above object, the utility model provides a redundant steering system of drive-by-wire with fail-safe function, including steering wheel, steering wheel axle, tie rod and left and right front wheel, this redundant steering system of drive-by-wire still includes:
a steering angle torque sensor for acquiring a steering angle and torque signal of a steering wheel;
the steering wheel force feedback mechanism comprises a force feedback motor and a force feedback transmission device;
the main steering mechanism comprises a main steering motor and a main steering transmission device used for transmission between the main steering motor and the steering tie rod;
the backup steering mechanism comprises a planetary gear set and a planetary gear set output shaft, the steering wheel shaft is connected with the input end of the planetary gear set, and the planetary gear set output shaft and the steering tie rod are driven by a backup steering transmission component; the backup steering mechanism also comprises a loosening and tightening device used for locking and loosening the gear ring of the planetary gear set and a backup steering driving motor used for driving the loosening and tightening device;
and the Electronic Control Unit (ECU) is electrically connected with the corner torque sensor, the force sensing feedback motor, the main steering motor and the backup steering driving motor respectively.
Furthermore, the planetary gear set is a double-planet-row gear set and comprises a planet carrier, a gear ring, a first planet gear, a first sun gear, a second planet gear and a second sun gear; the first sun gear is fixedly connected with the steering wheel shaft, the first planet gear is meshed with the first sun gear, and the first planet gear is meshed with the gear ring; the second planet gear is meshed with the gear ring, and the second sun gear is fixedly connected with the output shaft of the planetary gear set. The planetary gear set and the steering wheel shaft are arranged along the same axial direction, when the loosening and tightening device is in a loosening state, the gear ring can rotate freely, and torque transmitted by the steering wheel shaft cannot be transmitted to the output shaft of the planetary gear set from the planetary gear set; when the tightening device is in a locking state, the gear ring is fixed, and the torque penetrating through the steering wheel shaft is transmitted to the output shaft of the planetary gear set from the planetary gear set, so that the steering tie rod is driven, and the steering of the vehicle is realized.
Further, the take-up unit comprises a brake drum coated on the periphery of the gear ring and a ball screw for driving the brake drum to lock and loosen the gear ring, and the ball screw is connected with the backup steering drive motor. The backup steering driving motor works under the control of the electric control unit, and forwards or reversely rotates through the output shaft of the motor, so that the ball screw is driven to drive the brake drum to lock and loosen the gear ring.
Furthermore, the force feedback transmission device is a worm gear transmission mechanism, a worm wheel of the worm gear transmission mechanism is installed on the steering wheel shaft, and the worm is connected with the force feedback motor. The force feedback motor can work under the control of the electric control unit, and transmits torque to the steering wheel through the worm gear, so that steering force can be provided for a driver.
Furthermore, the main steering transmission device comprises a transmission belt device, a main steering shaft and a main steering transmission assembly, and the main steering shaft is connected with the main steering motor through the transmission belt device; the main steering transmission assembly is used for transmission between the main steering shaft and the steering tie rod. In a preferred embodiment, the main steering transmission assembly is the rack and pinion mechanism, a rack of which is fixed to the tie rod, and a pinion is provided on the main steering shaft. Under the normal state, the main steering motor works under the control of the electric control unit to drive the main steering shaft to rotate, so that the steering tie rod is driven to move, and the vehicle steering is realized.
Further, in a preferred embodiment, the backup steering gear assembly is a rack and pinion mechanism.
The utility model discloses when the redundant steering system of drive-by-wire with fail safeguard function uses in the vehicle, according to the control mode of difference, can realize normal mode and fail safeguard mode.
And (3) a normal working mode: when the vehicle is in a normal working state, the take-up unit is in a loose state, the electric control unit controls the main steering motor to work according to a steering wheel steering angle signal obtained by the steering angle torque sensor, and the main steering motor outputs torque to drive the steering tie rod to work so as to realize vehicle steering;
failure protection operating mode: when the main steering mechanism breaks down, the electronic control unit controls the backup steering driving motor to work to drive the tightening device to work in a locking state, the planetary gear set transmits the torque transmitted by the steering wheel shaft to the output shaft of the planetary gear set, and the backup steering transmission assembly drives the steering tie rod to work to realize vehicle steering.
Further, under the normal operating mode, the electronic control unit controls the force feedback motor to work, and the force feedback motor outputs torque to provide steering force for a driver.
Further, under the failure protection working mode, the electric control unit controls the force feedback motor to work, and the force feedback motor outputs torque to provide steering assistance for a driver.
Due to the adoption of the technical scheme, the utility model discloses a with the backup steering mechanism of planetary gear set as the essential element, can realize planetary gear set's locking and unclamping fast through backup steering driving motor, when main steering mechanism trouble, backup driving motor can drive the take-up unit fast under the control of electrical control unit to export the moment of torsion that the steering wheel pivot was spread into in order to realize the vehicle turns to, reach the redundant steering system's of drive-by-wire failure safeguard function; when the main steering mechanism works normally, the electric control unit controls the main steering motor to work according to a corner signal of a steering wheel, the output torque of the main steering motor is transmitted to a steering tie rod from the main steering mechanism, and when the vehicle is steered, the electric control unit can control a force sense feedback motor to work according to the corner signal of the steering wheel and a vehicle speed signal, so that a steering force sense is provided for a driver, and the driving experience of the driver is further improved; moreover, the middle force sense feedback motor of the utility model can also play a role of power-assisted steering when the main steering mechanism fails; therefore, the utility model has the advantages of simple structure, the function is abundant, and control is sensitive, has overcome prior art's defect.
Drawings
Fig. 1 is a schematic diagram of a simple structure of a redundant steering-by-wire system with fail-safe function according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of the tensioner in an embodiment.
In the drawings: 01-steering wheel; 02-steering wheel shaft; 03-worm and worm gear transmission mechanism; 04-force feedback motor; 05-ECU; 06-a planetary gear set; 07-a brake drum; 08-brake drum motor; 09-main steering shaft; 10-a main steering motor; 11-backup steering transmission assembly; 12-a primary steering transmission assembly; 13-left front wheel; 14-the right front wheel; 15-corner torque sensor; 16-a planetary gear set output shaft; 17-a belt drive; 18-a ball screw; 19-track rod.
Detailed Description
In order to make the technical field of the present invention better understand, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained under the premise of equivalent changes and modifications by those skilled in the art should belong to the protection scope of the present invention.
Referring to fig. 1 and 2, the present embodiment provides a redundant steering-by-wire system with fail-safe function, which includes a steering wheel 01, a steering wheel shaft 02, a tie rod 09, a front left wheel 13, a front right wheel 14, a steering angle torque sensor 15, a steering wheel force feedback mechanism, a main steering mechanism, a backup steering mechanism, and an ECU 05.
The steering angle torque sensor 15 is mounted on the steering wheel shaft 02, and is used for acquiring a steering angle and torque signal of the steering wheel 01. In this embodiment, the rotation angle torque sensor 15 uses a precision Meas FGP FCA 7300.
The steering wheel force feedback mechanism comprises a force feedback motor 04 and a force feedback transmission device used for transmission between the force feedback motor 04 and the steering wheel shaft 02. In this embodiment, the force feedback transmission device is a worm gear 03, a worm wheel of the worm gear 03 is mounted on the steering wheel shaft 02, and the worm is connected to the force feedback motor 04. The force feedback motor 04 can be operated under the control of the ECU05, and transmits torque to the steering wheel shaft 02 and the steering wheel 01 through the worm gear transmission 03, thereby providing a steering force feeling to the driver.
The main steering mechanism comprises a main steering motor 10 and a main steering transmission device used for transmission between the main steering motor 10 and a steering tie rod 19. The main steering transmission device in the embodiment comprises a transmission belt device 17, a main steering shaft 09 and a main steering transmission assembly 12, wherein the main steering shaft 09 is connected with the main steering motor 10 through the transmission belt device 17; the primary steering gear assembly 12 is used to drive between the primary steering shaft 09 and the tie rod 19. The primary steering gear assembly 12 is preferably a rack and pinion mechanism with a rack secured to the tie rod 19 and a pinion disposed on the primary steering shaft 09. Under normal conditions, the main steering motor 10 works under the control of the ECU05 to drive the main steering shaft 09 to rotate, so as to drive the tie rod 19 to move, thereby achieving the steering of the vehicle.
The backup steering mechanism comprises a planetary gear set 06 and a planetary gear set output shaft 16, a steering wheel shaft 02 is connected with the input end of the planetary gear set 06, and the planetary gear set output shaft 16 and a steering tie rod 19 are driven through a backup steering transmission assembly 11. The backup steering mechanism further includes a tightening device for locking and releasing the ring gear of the planetary gear set 06, and a backup steering drive motor 08 that drives the tightening device. As shown in fig. 2, the tightening device includes a brake drum 07 covering the periphery of the ring gear, and a ball screw 18 driving the brake drum 07 to lock and unlock the ring gear, and the ball screw 18 is connected to a backup steering drive motor 08. The backup steering drive motor 08 works under the control of the ECU05, and forwards or backwards rotates through the output shaft of the motor, so as to drive the ball screw 18 to drive the brake drum 07 to lock and unlock the gear ring. After the ring gear of the planetary gear set 06 is locked, the torque input by the steering wheel shaft 02 is transmitted to the steering wheel tie rod 19 through the planetary gear set output shaft 16, and the vehicle steering is realized. When the ring gear of the planetary gear set 06 is released, the torque of the steering wheel shaft 02 is not output to the planetary gear set output shaft 16, and the steering wheel tie rod 19 cannot be driven. In this embodiment, the backup steering transmission assembly is a rack and pinion mechanism, the pinion of which is disposed on the planetary gear set output shaft 16, and the rack of which is disposed on the steering wheel tie rod 19.
The ECU05 is electrically connected to the steering angle torque sensor 15, the force feedback motor 04, the main steering motor 10, and the backup steering drive motor 08, respectively. In the present embodiment, the ECU employs the freescale MC9S 12G.
In the present embodiment, the planetary gear set 06 is a double-row planetary gear set, which includes a planet carrier, a ring gear, a first planet gear, a first sun gear, a second planet gear, and a second sun gear; the first sun gear is fixedly connected with the steering wheel shaft 02, the first planet gear is meshed with the first sun gear, and the first planet gear is meshed with the gear ring; the second planet gear meshes with the ring gear, and the second sun gear is fixedly connected with the planetary gear set output shaft 16. The planetary gear set 06 and the steering wheel shaft 02 are arranged in the same axial direction, when the take-up is in a loosened state, the ring gear can rotate freely, and the torque transmitted by the steering wheel shaft 02 is not transmitted from the planetary gear set 06 to the planetary gear set output shaft 16; when the tightening device is in a locked state, the ring gear is fixed, and the torque transmitted by the steering wheel shaft 02 is transmitted from the planetary gear set 06 to the planetary gear set output shaft 16, so as to drive the tie rod 19 and realize the steering of the vehicle.
The redundant steering system by wire of this embodiment has a fail-safe function through the main steering mechanism and the backup steering mechanism that are independently provided, and when the redundant steering system by wire is applied to a vehicle, the control method thereof includes a normal operating mode and a fail-safe operating mode. The two modes of operation are described in detail below.
And (3) a normal working mode: when the vehicle is in a normal working state, the take-up unit is in a loose state, the ECU05 controls the main steering motor 10 to work according to a steering wheel steering angle signal obtained by the steering angle torque sensor 15, and the main steering motor 10 outputs torque to drive the tie rod to work, so that the vehicle steering is realized. At this time, the take-up unit in the backup steering mechanism is in a released state. Meanwhile, the ECU05 controls the force feedback motor 04 to work according to the steering wheel angle signal and the vehicle speed signal, and the force feedback motor 04 outputs torque to provide the driver with steering force.
Failure protection operating mode: when the main steering mechanism breaks down, the ECT05 controls the backup steering driving motor 08 to work to drive the tightening device to work in a locking state, the planetary gear set 06 transmits the torque transmitted by the steering wheel shaft 02 to the planetary gear set output shaft 16, and the backup steering transmission assembly drives the tie rod 19 to work, so that the vehicle steering is realized. The failure protection working mode can avoid steering failure caused by the failure of the main steering mechanism, thereby realizing the function of preventing steering failure. Meanwhile, the ECU05 can also control the force feedback motor 04 to work, and the force feedback motor 04 outputs torque to provide steering assistance for a driver.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a redundant steering system of drive-by-wire with fail safe function, includes steering wheel, steering wheel axle, tie rod and left and right front wheel, its characterized in that, this redundant steering system of drive-by-wire still includes:
a steering angle torque sensor for acquiring a steering angle and torque signal of a steering wheel;
the steering wheel force feedback mechanism comprises a force feedback motor and a force feedback transmission device;
the main steering mechanism comprises a main steering motor and a main steering transmission device used for transmission between the main steering motor and the steering tie rod;
the backup steering mechanism comprises a planetary gear set and a planetary gear set output shaft, the steering wheel shaft is connected with the input end of the planetary gear set, and the planetary gear set output shaft and the steering tie rod are driven by a backup steering transmission component; the backup steering mechanism also comprises a loosening and tightening device used for locking and loosening the gear ring of the planetary gear set and a backup steering driving motor used for driving the loosening and tightening device;
and the electric control unit is respectively and electrically connected with the corner torque sensor, the force sensing feedback motor, the main steering motor and the backup steering driving motor.
2. The redundant steering-by-wire system with fail-safe function of claim 1, wherein the planetary gear set is a double planetary gear set comprising a planet carrier, a ring gear, a first planet gear, a first sun gear, a second planet gear, a second sun gear; the first sun gear is fixedly connected with the steering wheel shaft, the first planet gear is meshed with the first sun gear, and the first planet gear is meshed with the gear ring; the second planet gear is meshed with the gear ring, and the second sun gear is fixedly connected with the output shaft of the planetary gear set.
3. The redundant steering system of drive-by-wire with fail-safe function of claim 1 or 2, characterized in that the take-up unit comprises a brake drum covering the periphery of the ring gear and a ball screw driving the brake drum to lock and unlock the ring gear, the ball screw being connected to the backup steering drive motor.
4. The redundant steering system by wire with fail-safe function of claim 1, wherein the force-sensing feedback transmission is a worm gear transmission, a worm wheel of the worm gear transmission is mounted on the steering wheel shaft, and a worm is connected with the force-sensing feedback motor.
5. The fail-safe redundant steering system by wire according to claim 1, wherein the main steering gear comprises a belt gear, a main steering shaft and a main steering gear assembly, the main steering shaft is connected with the main steering motor through the belt gear; the main steering transmission assembly is used for transmission between the main steering shaft and the steering tie rod.
6. The fail-safe redundant steering system by wire of claim 1, wherein the backup steering transmission assembly is a rack and pinion mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120293118.3U CN214607701U (en) | 2021-02-02 | 2021-02-02 | Wire control redundant steering system with failure protection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120293118.3U CN214607701U (en) | 2021-02-02 | 2021-02-02 | Wire control redundant steering system with failure protection function |
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| CN214607701U true CN214607701U (en) | 2021-11-05 |
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| CN202120293118.3U Active CN214607701U (en) | 2021-02-02 | 2021-02-02 | Wire control redundant steering system with failure protection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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2021
- 2021-02-02 CN CN202120293118.3U patent/CN214607701U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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