WO2020043233A1 - Actionneur à rétroaction pour un dispositif de direction comprenant un système de résistance de direction - Google Patents

Actionneur à rétroaction pour un dispositif de direction comprenant un système de résistance de direction Download PDF

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Publication number
WO2020043233A1
WO2020043233A1 PCT/DE2019/100753 DE2019100753W WO2020043233A1 WO 2020043233 A1 WO2020043233 A1 WO 2020043233A1 DE 2019100753 W DE2019100753 W DE 2019100753W WO 2020043233 A1 WO2020043233 A1 WO 2020043233A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
motor
feedback actuator
torque
transmission
Prior art date
Application number
PCT/DE2019/100753
Other languages
German (de)
English (en)
Inventor
Manfred Kraus
Jochen Rosenfeld
Andreas Wöllner
Markus BAEUML
Georgi ANDREEV
Original Assignee
Schaeffler Technologies AG & Co. KG
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 Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Publication of WO2020043233A1 publication Critical patent/WO2020043233A1/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
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated

Definitions

  • the invention relates to a feedback actuator for a steering device
  • Direct drive Such feedback actuators are used in particular in steer-by-wire steering systems for motor vehicles.
  • Steer-by-wire steering systems for motor vehicles take manual steering commands from the driver, like conventional mechanical steering systems, by turning one
  • Steering wheel counter to an input unit This causes the rotation of a steering shaft, which, however, is not mechanically connected to the wheels to be steered via the steering gear, but rather interacts with angle of rotation or torque sensors, which detect the steering command introduced and emit an electrical control signal determined therefrom to a steering actuator by means of of an electric actuator sets a corresponding steering angle of the wheels.
  • the driver does not receive any direct physical feedback from the steered wheels via the steering link, which is the case with
  • Vehicle speed, steering angle, steering reaction torque and the like to detect or calculate in a simulation, and from this one
  • the feedback actuator is integrated in the input unit and has one
  • Actuator unit which comprises an actuator serving as a manual torque or steering wheel actuator, and which, depending on the feedback signal, couples a return torque (feedback torque) corresponding to the real reaction torque via the steering shaft into the steering wheel.
  • feedback torque feedback torque
  • a steer-by-wire steering system is known from DE 10 2008 036 730 A1, with an input unit which has an actuator unit driven by an electric motor.
  • the electric motor can be controlled by an electronic control unit that adjusts the motor current as a function of measured values that characterize the respective driving situation.
  • the motor shaft is directly coupled to the steering shaft, so the motor torque is identical to the manual torque that is coupled into the steering shaft.
  • the electric motor is flanged axially to the jacket unit with respect to the longitudinal axis and the motor shaft is connected to the steering shaft mounted in the jacket unit via a coupling.
  • An actuator unit of the same construction is shown in EP 2 414 211 B1. In the embodiment described therein, the steering shaft itself forms the motor shaft of the electric motor, so that a more compact structure can be achieved.
  • the motor torque must be specified precisely in the known designs described above because of the direct coupling of the motor shaft to the steering shaft, which is a complex, fast and precise control of the
  • Control unit must be designed accordingly expensive.
  • suitable electric motors with sufficiently high motor torques have relatively large dimensions for the application of realistic restoring torques, which is contrary to a compact construction.
  • the task of the current development is to develop a feedback actuator for a compact steering device with a realistic simulation of the steering feel, which is designed to be as free of play as possible.
  • the invention thus relates to a feedback actuator for a steering device with a defined steering torque, with an outer housing arrangement, comprising a steering spindle for coupling to a steering wheel, the steering spindle being mounted in the housing arrangement so as to be rotatable about its longitudinal axis, a bearing for mounting the steering spindle, a friction element arranged along the longitudinal axis for
  • Regulation of a motor and at least one first motor for actively setting an engine steering torque in a switched-on operating state of a vehicle characterized in that the feedback actuator has a steering resistance system for providing the defined steering torque on the steering wheel, the
  • Motor steering torque of the at least one motor is smaller than the defined one
  • the at least one engine can be made more compact compared to an engine without this steering resistance system. This advantageously reduces the installation space required and can also reduce the energy requirement for the system.
  • the steering resistance system is a transmission.
  • the transmission can have a transmission ratio of 50: 1 up to and including 70: 1, preferably essentially 60: 1.
  • Such a transmission ratio has proven to be advantageous, on the one hand, to enable a compact construction and, on the other hand, to allow a construction that is as gentle as possible on the components.
  • the steering resistance system has a gear designed as a cycloid gear.
  • An eccentric of a drive unit drives a cam disk, which rolls inside a fixed pin ring and carries pins of an output unit. This allows for a construction that is as compact as possible, whereby the transmission also has a low noise and wear effect with an even load distribution. This enables a long service life.
  • Steering resistance system has a transmission designed as a Cyclobelt transmission. This has the advantage of a particularly low-play design.
  • the Cyclobelt transmission can preferably have a transmission input which is indirectly or directly connected to the motor shaft and is designed as a sun gear and which is surrounded by at least three planet gears which are encompassed by a single belt, the belt being connected to the steering spindle and in particular as a ring gear trained transmission output is surrounded, the transmission input and the transmission output coaxial to each other
  • the transmission input can preferably have an at least partially elastic casing on the outside for acoustic decoupling.
  • the belt can have an internal and / or external toothing.
  • the feedback actuator is operated in a forced manner between the planet gears and the transmission output, which is designed in particular as a ring gear. This enables the feedback actuator to be designed with little play.
  • the steering resistance system has at least two motors, preferably three motors, which are connected to the steering spindle via a respective belt drive. This further reduces the installation space required for each motor. In addition, this gives the possibility of at least partially replacing a failed engine with another engine, so that the
  • the respective belt drive is prestressed between the respective motor and the steering spindle.
  • Preload reduces the play between the components and at the same time leads to quiet operation of the feedback actuator.
  • FIGS. 3 a view of a detail from FIGS. 3 and
  • FIG. 4 shows a schematic sectional view of a feedback actuator according to a second embodiment of the invention with a belt system.
  • FIG. 1 thus shows a feedback actuator 10 for a steering device with a defined steering torque L, with an outer housing arrangement 12, comprising a steering spindle 14 for coupling to a steering wheel 16, the steering spindle 14 around its Longitudinal axis L is rotatably mounted in the housing arrangement 12, a bearing 18 for mounting the steering spindle 14, one arranged along the longitudinal axis L.
  • Friction element 20 for generating a basic friction of the feedback actuator 10, a locking device 22 for functions that require an active actuating torque greater than a defined steering torque L of a motor 26, an angle sensor system 24 for determining the rotor position for the regulation of a motor 26 and at least a first one Motor 26 for actively setting an engine steering torque M in one
  • the feedback actuator 10 has a steering resistance system 28 for providing the defined steering torque L on the steering wheel 16, the motor steering torque M of the at least one motor 26 being smaller than the defined steering torque L for perception by one
  • the at least one motor 26 can be made more compact compared to a motor without this steering resistance system 28. This advantageously reduces the installation space required and can also reduce the energy requirement for the system.
  • the steering resistance system 28 is a transmission.
  • the transmission can have a gear ratio of 50: 1 up to and including 70: 1, preferably essentially 60: 1.
  • a gear ratio has proven to be advantageous, on the one hand, to enable a compact design and, on the other hand, to allow a construction that is as gentle as possible on the components.
  • the steering resistance system 28 has a transmission designed as a cycloidal transmission.
  • An eccentric of a drive unit drives a cam disk, which rolls inside a fixed pin ring and carries pins of an output unit. This allows the most compact possible design, whereby the gearbox is also low-noise and low-wear with a uniform
  • Load distribution works. This enables a long service life.
  • the steering resistance system 28 has a transmission designed as a Cyclobelt transmission. This has the advantage of a particularly low-play design.
  • the Cyclobelt transmission can preferably have a transmission input 30, which is indirectly or directly connected to the motor shaft and is designed as a sun gear, and has at least three
  • Planet wheels 32 is surrounded, which are spanned by a single belt 34, the belt 34 of a connected to the steering shaft 14 and
  • a gear output 36 designed as a ring gear is surrounded, the gear input 30 and the gear output 36 being arranged coaxially to one another. This arrangement of the components enables a uniform force distribution to take place, so that the component life is increased.
  • the transmission input 30 can preferably have an at least partially elastic sheathing on the outside for acoustic decoupling.
  • the belt 34 according to FIG. 3 can have internal and external teeth 38, 40. 3 shows a section X of FIG. 2.
  • the feedback actuator 10 according to this exemplary embodiment, there is a positive guidance between the planet gears 32 and the gear output 36, which is designed in particular as a ring gear. This enables the feedback actuator 10 to be designed with little play.
  • a further preferred embodiment of the feedback actuator 10 can be designed according to FIG. 4 such that the steering resistance system 28 has at least two motors 26a, 26b, preferably three motors 26a, 26b, 26c, which are also connected via a respective belt drive 42a, 42b, 42c the steering shaft 14 are connected. This further reduces the installation space required for each motor 26. In addition, this gives the possibility of a failed motor 26 by another motor 26 at least partially to replace, so that the motor vehicle driver perceives at least a partial resistance.
  • the respective belt drive 42a, 42b, 42c is prestressed between the respective motor 26a, 26b, 26c and the steering spindle 14. The preload reduces the play between the components and at the same time leads to quiet operation of the feedback actuator 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un actionneur à rétroaction (10) pour un dispositif de direction ayant un couple de direction (L) défini, comprenant un arrangement de boîtier extérieur (12) comportant un arbre de direction (14) servant à l'accouplement avec un volant de direction (16), l'arbre de direction (14) étant monté dans l'arrangement de boîtier (12) de manière à pouvoir tourner autour de son axe longitudinal (L), un palier (18) servant au montage de l'arbre de direction (14), un élément de friction (20) disposé le long de l'axe longitudinal (L) et servant à générer une friction de base de l'actionneur de rétroaction (10), un arrangement de blocage (22) pour les fonctions qui exigent un couple d'actionnement actif supérieur à un couple de direction (L) défini d'un moteur (26), un système capteur d'angle (24) destiné à déterminer la position du rotor pour la régulation d'un moteur (26), et au moins un premier moteur (26) destiné à régler activement un couple de direction de moteur (M1) dans un état opérationnel en service d'un véhicule. L'actionneur à rétroaction (10) possède un système de résistance de direction (28) destiné à produire le couple de direction défini au niveau du volant de direction (16) et le couple de direction de moteur de l'au moins un moteur (26) est inférieur au couple de direction défini pour la perception par un conducteur de véhicule automobile. Un actionneur à rétroaction (10) ainsi construit selon la présente invention est de conception compacte et offre une sensation de direction simulée de manière réaliste pour les conducteurs de véhicules automobiles, les composants étant conçus pour être aussi exempts de jeu que possible les uns par rapport aux autres.
PCT/DE2019/100753 2018-08-30 2019-08-21 Actionneur à rétroaction pour un dispositif de direction comprenant un système de résistance de direction WO2020043233A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE102018006880 2018-08-30
DE102018006881.2 2018-08-30
DE102018006880.4 2018-08-30
DE102018006881 2018-08-30
DE102018131185.0 2018-12-06
DE102018131185.0A DE102018131185B4 (de) 2018-08-30 2018-12-06 Feedback-Aktuator für eine Lenkeinrichtung mit Lenkwiderstandssystem

Publications (1)

Publication Number Publication Date
WO2020043233A1 true WO2020043233A1 (fr) 2020-03-05

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ID=69526626

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Application Number Title Priority Date Filing Date
PCT/DE2019/100753 WO2020043233A1 (fr) 2018-08-30 2019-08-21 Actionneur à rétroaction pour un dispositif de direction comprenant un système de résistance de direction

Country Status (2)

Country Link
DE (1) DE102018131185B4 (fr)
WO (1) WO2020043233A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022017996A1 (fr) * 2020-07-23 2022-01-27 Thyssenkrupp Presta Ag Actionneur de rétroaction pour un dispositif de direction d'un véhicule automobile et colonne de direction pour un véhicule automobile
US12024240B2 (en) 2018-09-17 2024-07-02 Thyssenkrupp Presta Ag Steering column and steer-by-wire steering system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019118476A1 (de) * 2019-07-09 2021-01-14 Schaeffler Technologies AG & Co. KG Handkraftaktuator mit einer Vielzahl von Widerstandsmotoren
DE102022101974A1 (de) 2022-01-28 2023-08-03 Schaeffler Technologies AG & Co. KG Aktuator für Lenkeinheit

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008036730A1 (de) 2008-08-07 2010-02-11 Ebm-Papst St. Georgen Gmbh & Co. Kg Aktuatoreinheit für eine Kraftfahrzeug-Steer-by-Wire-Lenkeinrichtung
EP2414211A1 (fr) 2009-04-01 2012-02-08 Leopold Kostal GmbH & Co. KG Colonne de direction pour véhicules à moteur
WO2016198328A1 (fr) * 2015-06-09 2016-12-15 Thyssenkrupp Presta Ag Actionneur à rétroaction d'un dispositif de direction
WO2017009125A1 (fr) * 2015-07-15 2017-01-19 Thyssenkrupp Presta Ag Actionneur à rétroaction pour un dispositif de direction
WO2017089218A1 (fr) * 2015-11-25 2017-06-01 Thyssenkrupp Presta Ag Actionneur à rétroaction pour une direction à commande électrique « steer-by-wire »

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008036730A1 (de) 2008-08-07 2010-02-11 Ebm-Papst St. Georgen Gmbh & Co. Kg Aktuatoreinheit für eine Kraftfahrzeug-Steer-by-Wire-Lenkeinrichtung
EP2414211A1 (fr) 2009-04-01 2012-02-08 Leopold Kostal GmbH & Co. KG Colonne de direction pour véhicules à moteur
WO2016198328A1 (fr) * 2015-06-09 2016-12-15 Thyssenkrupp Presta Ag Actionneur à rétroaction d'un dispositif de direction
WO2017009125A1 (fr) * 2015-07-15 2017-01-19 Thyssenkrupp Presta Ag Actionneur à rétroaction pour un dispositif de direction
WO2017089218A1 (fr) * 2015-11-25 2017-06-01 Thyssenkrupp Presta Ag Actionneur à rétroaction pour une direction à commande électrique « steer-by-wire »

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12024240B2 (en) 2018-09-17 2024-07-02 Thyssenkrupp Presta Ag Steering column and steer-by-wire steering system
WO2022017996A1 (fr) * 2020-07-23 2022-01-27 Thyssenkrupp Presta Ag Actionneur de rétroaction pour un dispositif de direction d'un véhicule automobile et colonne de direction pour un véhicule automobile

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Publication number Publication date
DE102018131185B4 (de) 2020-09-24
DE102018131185A1 (de) 2020-03-05

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