WO2007054003A1 - Systeme de direction assistee electrique dote d’une fonction de stabilisation et procede associe - Google Patents

Systeme de direction assistee electrique dote d’une fonction de stabilisation et procede associe Download PDF

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Publication number
WO2007054003A1
WO2007054003A1 PCT/CN2006/002533 CN2006002533W WO2007054003A1 WO 2007054003 A1 WO2007054003 A1 WO 2007054003A1 CN 2006002533 W CN2006002533 W CN 2006002533W WO 2007054003 A1 WO2007054003 A1 WO 2007054003A1
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WO
WIPO (PCT)
Prior art keywords
motor
signal
steering
control unit
electronic control
Prior art date
Application number
PCT/CN2006/002533
Other languages
English (en)
Chinese (zh)
Inventor
Beiqiang Xu
Original Assignee
Beiqiang Xu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beiqiang Xu filed Critical Beiqiang Xu
Publication of WO2007054003A1 publication Critical patent/WO2007054003A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0472—Controlling the motor for damping vibrations

Definitions

  • the present invention relates to an electric steering system and a stabilizing method for a motor vehicle, and more particularly to an electric power steering system with a stabilizing function for directly preventing a car from suddenly changing a traveling direction when a car is bursting at a high speed while driving at a high speed. And steady approach. Background technique
  • Power steering is to assist the driver in making vehicle direction adjustments and to reduce the driver's strength to the steering wheel.
  • the mechanical hydraulic power steering system is generally composed of a hydraulic pump, a fuel pipe, a pressure flow control valve body, a V-shaped transmission belt, and a storage tank. However, this system must work regardless of whether the car is turning or not. When the high steering speed is low, the pump needs to output more power to obtain greater power.
  • the mechanical hydraulic power steering system is hydraulic. The pump and the pipeline and the cylinder are composed. In order to maintain the pressure, the system is always in working state and the energy consumption is high, regardless of whether or not steering assistance is required.
  • an electric power steering system which utilizes the power generated by the electric motor to assist the driver in power steering.
  • the torque (steering) sensor When the car is turning, the torque (steering) sensor will feel the torque of the steering wheel and the direction of the intended rotation. These signals will be sent to the electronic control sheep through the data bus.
  • the electronic control unit will according to the driving torque, the direction of the rotation, etc.
  • the data signal sends an action command to the motor controller, so that the motor outputs a corresponding amount of rotational torque according to the specific needs, thereby generating a power steering. If you don't turn, the system will not work, and it will wait in the s tandby state.
  • the technical problem to be solved by the present invention is: to provide an electric power steering system with a stable function and a steerable method, which can keep the car in a straight line when the sudden blasting of the guiding tire is encountered, and does not suddenly change the driving direction. Thereby effectively avoiding traffic accidents.
  • an electric power steering system having a stabilizing function, comprising: a steering torque detecting device disposed on a steering shaft for detecting a steering torque of the steering shaft; a detecting device for detecting a puncture signal of the vehicle; an electric motor for generating a boosting torque, the electric motor being provided with a braking device; and a speed reducing mechanism disposed between the steering shaft and the electric motor, which generates the electric motor
  • the assist torque is decelerated and twisted and transmitted to the steering mechanism through the steering output shaft;
  • the electronic control unit is configured to set the current value of the motor according to at least the steering torque signal of the steering torque detecting device, and output the motor for driving the motor
  • the control signal when the electronic control unit obtains the aforementioned puncture signal, outputs a control signal for driving the braking device to hug the motor.
  • the invention also discloses a method for stabilizing an electric power steering system, comprising: obtaining a signal of a tire puncture and transmitting the signal to an electronic control unit; after receiving the puncture signal, the electronic control unit controls The brake device of the motor is electrically attracted, and the motor is held, so that the steering mechanism connected thereto can not be rotated, and the direction is locked.
  • the features and advantages of the present invention are: The electric power steering system with stable function of the present invention And a steering method, the steering system includes: a steering torque detecting device, a tire air pressure detecting device, an electric motor, a speed reducing mechanism, and an electronic control unit, wherein the electric motor is provided with a braking device, and the electronic control unit is based on a steering torque a signal and a steering angle signal for setting a current value of the motor and driving the motor; the electronic control unit outputting a driving device for driving the brake device to hold the motor when obtaining a puncture signal issued by the tire air pressure detecting device Control signals to achieve direction locking.
  • the electric power steering system and the steerable method with the stabilizing function of the invention overcome the defects of the prior art.
  • the ECU can control the motor and the speed reduction mechanism to generate the power-assisting matrix, so that the car can travel at low and medium speeds. Get the best steering, and when you encounter the sudden blast of the guiding tire, it will not suddenly change the direction of travel, so that the car can keep straight, effectively avoiding traffic accidents.
  • FIG. 1 is a schematic structural view of an electric power steering system having a stabilizing function according to the present invention
  • FIG. 2 is a schematic view showing an electronic control unit of an electric power steering system having a stabilizing function according to the present invention.
  • the present invention provides an electric power steering system having a stabilizing function, comprising at least: a steering torque detecting device disposed on a steering shaft for detecting a steering torque of the steering shaft; and a tire air pressure detecting device For detecting a tire puncture signal; an electric motor for generating a boosting torque, The motor is provided with a braking device; the speed reducing mechanism is disposed between the steering shaft and the motor, and the unit (ECU) controls the current value of the motor according to the steering torque signal of the steering torque detecting device, and outputs the current value. And a control signal for driving the motor, the electronic control unit outputs a control signal for driving the brake device to hold the motor when obtaining the puncture signal transmitted by the tire air pressure detecting device.
  • a steering torque detecting device disposed on a steering shaft for detecting a steering torque of the steering shaft
  • a tire air pressure detecting device For detecting a tire puncture signal
  • an electric motor for generating a boosting torque
  • the motor is provided with a
  • a specific embodiment of an electric power steering system with a stabilizing function is mainly composed of a vehicle speed sensor, a torque sensor 7, a steering angle sensor 14, and an electronic control unit (ECU). 12. Motor 11 and speed reduction mechanism.
  • the basic principle of the electric power steering system is similar to the known technology.
  • the ECU controls the motor 11 and the speed reduction mechanism to generate a power-assisting matrix, so that the vehicle runs at The best steering is achieved at low and medium speeds.
  • the electric motor 11 together with the electromagnetic clutch 10 and the worm, the torque outputted by the electric motor 11 is increased by the worm gear reduction mechanism, and the output torque is sent to the rack 4 through the universal joint 15 and the urging gear 3 in the steering gear.
  • the steering wheel 1 provides boost torque
  • an electronic control unit (ECU for short) 12 determines the magnitude and direction of the assist torque based on the input signals of the respective sensors, and directly controls the drive circuit to drive the motor 11.
  • the electric motor 11 of the present invention is provided with a brake device 110. When the puncture occurs, the electronic control unit 12 outputs a control signal, and the drive brake device 110 holds the motor 11 to achieve direction locking.
  • the actuator of the present invention includes a direct current motor, an electromagnetic clutch, a speed reducer, and the like, wherein:
  • the motor 11 is a permanent magnetic field DC motor provided with a braking device, which can be a well-known structure.
  • the maximum current of the motor used in this embodiment is about 30 A, the voltage is 12 V, and the rated torque is about 1 ON. .
  • the electromagnetic clutch 10 it can be a variety of known structures. In this embodiment, it is mainly composed of an electromagnetic coil, a driving wheel, a driven shaft, a pressure plate and the like. When working, the current enters the electromagnetic coil through the slip ring, the driving wheel generates electromagnetic attraction, the pressure plate with the spline is attracted, and is pressed against the driving wheel, so the motor
  • the output torque of 11 passes through the output shaft - the drive wheel - the pressure plate - the spline - the driven shaft - to the worm gear reduction mechanism.
  • the main functions of the electromagnetic clutch 10 are three, one is: Ensure that the electric power is only active within a certain speed range. When the running speed of the vehicle exceeds the speed, the electromagnetic clutch 10 cuts off the power of the motor 11, so that the motor 11 stops, the clutch 10 is disengaged, and the steering assist function is not transmitted; the second is: in the event of a system failure, the clutch 10 is automatically separated.
  • the electronic control unit outputs a control signal for driving the braking device to hold the motor when the puncture signal is obtained, and also outputs electromagnetic coupling for the electromagnetic clutch.
  • the signal is used to achieve the direction locking, and the control input motor is controlled to maintain the torque in the reverse direction according to the signal of the steering angle sensor.
  • the speed reduction mechanism mainly comprises a worm wheel 16 and a worm 13 .
  • the power of the worm 13 comes from the electromagnetic clutch 10 and the motor 11 . After being decelerated and twisted by the worm wheel 16 , the worm wheel 16 is transmitted to the steering output shaft 5 and then transmitted to the steering wheel 1 through the steering mechanism. To achieve steering assistance.
  • the basic composition of the electronic control unit (ECU) of the present invention is a ROM with 1K bytes of RAM, 16K positioning, and a 10-bit A/D converter, 8-bit byte Single-chip microcomputer (microprocessor); its peripheral circuit has 8-bit D/A converter, I/F (current/frequency) converter, amplifier circuit, power monitoring circuit, drive circuit and so on.
  • the electronic control unit (ECU) can also use other known structures, and is not limited thereto.
  • the signals of the steering torque sensor and the steering angle sensor are input to the microprocessor through the A/D converter, and the microprocessor calculates the optimized assist torque based on the above signals, the vehicle speed signal, and the current signal of the motor.
  • the ECU sends the calculated parameter value as a current command value to the D/A converter and converts it into an analog quantity, which is then input to the current control device; the current control circuit compares the current command value from the microprocessor with the actual motor current. The values are compared to produce a difference signal.
  • the difference signal is sent to a drive circuit that drives the DC motor power unit and is electrically powered
  • the machine provides a control current, that is, when the signals of the torque sensor 7 and the steering angle sensor 14 are processed by the A/D converter, the microprocessor searches for a corresponding motor current value in the memory that matches the signal, and then This value is sent to the D/A converter for digital-to-analog conversion, and the processed analog signal is sent to the current limiter, and the current limiter determines the current value of the motor drive circuit.
  • the microprocessor simultaneously outputs a signal to the motor drive circuit, which determines the direction of rotation of the motor (left or right).
  • the drive circuit is also coupled to the brake device 110 of the motor 11, and in the present embodiment, the pilot tire pressure sensing device is a pressure sensor disposed within the guide tire.
  • the brake device 110 is in a power-off non-braking state. Only when the tire air pressure detecting device obtains a puncture signal and transmits a signal to the microprocessor, the microprocessor issues an instruction to cause the braking device 110 to Electric pickup, turning to the braking state, holding the motor 11. At this time, if the driving direction of the car is to be actively changed, the torque sensor 7 will generate a signal and transmit it to the microprocessor, and the microprocessor will issue a command, and the braking device 110 of the motor 11 is powered off to release the braking function. , to ensure the initiative to change the direction of the car driving direction.
  • the electronic control unit can select the ATM chip of the ATMEL company, which has a relatively fast running speed and superior performance, and can process the sensor signals of the external A/D line, and after the operation processing and then D/ A is transferred to the analog quantity to realize the forward and reverse operation of the motor through the motor control circuit P to realize the assist control.
  • the electronic control unit can select the ATM chip of the ATMEL company, which has a relatively fast running speed and superior performance, and can process the sensor signals of the external A/D line, and after the operation processing and then D/ A is transferred to the analog quantity to realize the forward and reverse operation of the motor through the motor control circuit P to realize the assist control.
  • a DSP or other company's single-chip microcomputer can also be used to implement the above function setting, because the DSP can process analog digital signals and dedicated motor control lines, and the same functions can be realized.
  • the electric power steering system of the present embodiment can also be provided with a safety protection device, a relay capable of cutting off the power of the motor 11 in the main power circuit, and a motor 11 and a speed reduction mechanism.
  • the electromagnetic clutch 10 is connected between them and can be disconnected.
  • the electric assist system is in a dormant power saving state; in addition, if it is detected that the motor 11 is out of control, the battery voltage is too low, the charging portion of the engine is abnormal, or the control system itself fails.
  • the ECU automatically cuts off the power of the DC motor 11 through the relay, the electromagnetic clutch 10 is disengaged, the electric assist does not function, and the manual control steering is resumed.
  • the electric power steering system in this embodiment can also select a fault diagnosis device of a known steering system, which will not be described in detail herein.
  • the forward and reverse rotation of the motor 11 of the present invention is handled by a dedicated line.
  • the known MOSFET and the peripheral line are used to realize direct control of the motor, and of course, it is not limited thereto.
  • the stabilizing function is not necessary in the case of a puncture in this case, that is, within a certain speed range, the present invention
  • the electric power steering system only provides the function of power steering, that is, the speed below the maximum speed set by the electric power steering system, beyond which the electric power steering system no longer provides assistance.
  • the torque signal, the steering angle signal and the vehicle speed signal generated by the driver turning the steering wheel 1 are processed by the A/D converter, and the microprocessor searches for a motor current matching the signal in the memory. The value is then sent to the D/A converter for digital-to-analog conversion, and the processed analog signal is sent to the current limiter.
  • the current limiter determines the current value of the motor drive circuit, and the microprocessor simultaneously supplies the motor 11
  • the driving circuit outputs a signal to determine the direction of rotation of the motor (left turn or right turn). At this time, the electromagnetic clutch 10 is sucked, and the corresponding torque output from the motor 11 is transmitted, and the worm 13 is decelerated and twisted, and then transmitted to the steering.
  • the shaft 5 is then transmitted to the steering wheel 10 through components such as the pinion 3 and the rack 4 to achieve steering assist.
  • the steering wheel 1 is lightly turned off, the torque signal disappears, and the electromagnetic clutch 10 and the motor 11 are quickly switched to the power-off state to achieve automatic return of the vehicle direction.
  • the ECU controls the motor to generate the assist torque, so that the car can get the best steering at low and medium speeds.
  • the electric power steering system Since the maximum speed set by the electric power steering system is exceeded, the electric power steering system does not mention For the driving force, the electromagnetic clutch 10 and the electric motor 11 are in a power-off state when the vehicle is running at a high speed, and the control of the vehicle direction at the time of high-speed driving is manually controlled regardless of whether the vehicle maintains a straight line or a lane change.
  • the puncture detecting device quickly transmits the puncture signal to the microprocessor, and the microprocessor issues an instruction accordingly, so that the braking device 110 is electrically attracted, and the electric motor 11 is hung.
  • the steering force of the traction rack 4 generated by the tire is transmitted to the motor 11 through the gear 3, the universal joint rod 15, the worm wheel 16 of the output shaft 5, the worm 13 and the electromagnetic clutch 10, and the holding torque of the motor 11
  • the damping force and the braking force are offset, and the rack 4 remains stationary.
  • the guiding tire 4 is locked in the driving direction, and the car will keep straight.
  • the torque sensor At this time, if the driver actively changes the direction of the car and turns the steering wheel 1, the torque sensor generates a torque signal and transmits it to the microprocessor. The microprocessor then obtains a torque signal and then issues a command, and the brake device of the motor 11 110 is powered off, the brake function is released, and the assist torque is output at the same time. After the direction lock is released, the control system can judge and issue the command to make the motor output a large assist torque within a certain time range, so as to obtain a larger steering assist and overcome the large steering force caused by the puncture.
  • this time can be set according to the need
  • the electronic control unit can automatically release the signal to ensure that the lock is released. Automatic return function in the direction of the car.
  • the speed reduction mechanism of the present invention may also be a helical gear reduction mechanism or a planetary gear reduction mechanism, etc., which are still within the scope of this patent.

Abstract

L’invention concerne un système de direction assistée électrique doté d’une fonction de stabilisation et un procédé associé. Le système comprend un détecteur de couple de direction, un détecteur de pression de pneumatique, un moteur, un dispositif décélérateur et un module de commande électronique. Un dispositif de freinage est équipé du moteur. Le module de commande électronique commande le moteur en lui appliquant un courant qui est fonction d’un signal de couple de direction et d’un signal d’angle de direction. Le module de commande électronique transmet un signal de commande au dispositif de freinage afin de freiner le moteur et verrouiller la direction après réception d’un signal d’éclatement de pneumatique.
PCT/CN2006/002533 2005-11-11 2006-09-26 Systeme de direction assistee electrique dote d’une fonction de stabilisation et procede associe WO2007054003A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CNA2005101152360A CN1962339A (zh) 2005-11-11 2005-11-11 具有稳向功能的电动式助力转向系统及稳向方法
CN200510115236.0 2005-11-11

Publications (1)

Publication Number Publication Date
WO2007054003A1 true WO2007054003A1 (fr) 2007-05-18

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PCT/CN2006/002533 WO2007054003A1 (fr) 2005-11-11 2006-09-26 Systeme de direction assistee electrique dote d’une fonction de stabilisation et procede associe

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CN (1) CN1962339A (fr)
WO (1) WO2007054003A1 (fr)

Cited By (2)

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CN102963420A (zh) * 2012-12-06 2013-03-13 李良杰 爆胎自动矫正方向及制动系统
CN109634264A (zh) * 2019-02-15 2019-04-16 东北林业大学 一种eps控制器老化检测系统及其控制方法

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KR20110062835A (ko) * 2009-12-04 2011-06-10 두산인프라코어 주식회사 산업용 차량의 주행 안전 장치 및 주행 안전 기능 제공 방법
WO2013094105A1 (fr) * 2011-12-21 2013-06-27 日産自動車株式会社 Dispositif de direction
CN102910201B (zh) * 2012-10-26 2015-06-24 广西工学院 一种基于转向的汽车防爆胎控制系统
CN103935393A (zh) * 2013-01-21 2014-07-23 北京索荣电动汽车技术有限公司 一种电动汽车转向助力器
JP5930078B2 (ja) * 2013-02-07 2016-06-08 日本精工株式会社 電動パワーステアリング装置
CN103303250A (zh) * 2013-05-15 2013-09-18 苏州震科汽车部件有限公司 一种商用车eps转向电机装置
CN104943730B (zh) * 2015-07-06 2017-12-12 中国石油大学(华东) 汽车爆胎瞬间有暂时性锁止功能的转向装置
JP6401861B2 (ja) * 2015-07-16 2018-10-10 本田技研工業株式会社 デュアルピニオン式電動パワーステアリング装置
CN106467038B (zh) 2015-08-17 2019-02-26 比亚迪股份有限公司 电动汽车防转向失灵的辅助转向系统及辅助转向方法
CN109367618B (zh) * 2018-10-18 2021-04-13 安徽江淮汽车集团股份有限公司 一种电动助力转向控制方法及系统
CN110696817A (zh) * 2019-10-22 2020-01-17 杭州精是智能科技有限公司 一种用于汽车爆胎后行驶方向稳定控制的方法
CN114148410A (zh) * 2021-11-08 2022-03-08 盐城工学院 一种汽车液压助力转向控制系统及方法

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US6834218B2 (en) * 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
CN1613674A (zh) * 2003-11-05 2005-05-11 史建华 智能型机动车爆胎安全保护系统
JP2005313758A (ja) * 2004-04-28 2005-11-10 Nissan Motor Co Ltd ステアリング装置

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CN1341519A (zh) * 2001-09-24 2002-03-27 吕杉 汽车爆胎安全稳定控制系统
US6834218B2 (en) * 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
CN1613674A (zh) * 2003-11-05 2005-05-11 史建华 智能型机动车爆胎安全保护系统
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN102963420A (zh) * 2012-12-06 2013-03-13 李良杰 爆胎自动矫正方向及制动系统
CN109634264A (zh) * 2019-02-15 2019-04-16 东北林业大学 一种eps控制器老化检测系统及其控制方法
CN109634264B (zh) * 2019-02-15 2023-12-05 东北林业大学 一种eps控制器老化检测系统及其控制方法

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