CN101607571B - Auto steering control method and system based on magnetorheological technique - Google Patents
Auto steering control method and system based on magnetorheological technique Download PDFInfo
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- CN101607571B CN101607571B CN2009101043681A CN200910104368A CN101607571B CN 101607571 B CN101607571 B CN 101607571B CN 2009101043681 A CN2009101043681 A CN 2009101043681A CN 200910104368 A CN200910104368 A CN 200910104368A CN 101607571 B CN101607571 B CN 101607571B
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Abstract
The invention provides an auto steering control method and a device based on a magnetorheological technique; the method is realized by installing a magnetorheological damping device on an auto steering system, and the magnetorheological damping device comprises a rotor, a stator, magnetorheological fluid and a coil; the rotor of the magnetorheological damping device rotates with a steering shaft of a pinion and rack steering system, the magnetorheological damping device is controlled by a magnetorheological controller, and the magnetorheological controller receives signals from a torque sensor and a vehicle speed sensor, computes target current according to an assistance characteristic law, inputs the signals to a drive circuit to change the current and outputs the signals to the magnetorheological damping device to change a magnetic field of the magnetorheological damping device; and the device provides a suitable damping force and ensures stability of steering. The method and the device are favorable to solving a problem of a steering wheel 'out of control' while the auto runs at high speed. Compared with a hydraulic EPS and an electric control EPS, the device has advantages of simple structure, low energy consumption, high reliability, rapid response system and the like.
Description
Technical field
The present invention relates to automobile steering system, specifically, is to adopt a kind of magnetorheological damping device to control the steering swivel system of steering torque.
Background technology
Magnetic rheological body is made up of non-magnetic liquid and the small soft magnetization grain husk grain that is dispersed in high magnetic permeability wherein, low magnetic hysteresis.Under the effect in magnetic field, it can be changed into the Bingham plastomer of high viscosity, lazy flow by the Newtonian fluid of good fluidity in the time of Millisecond, and this transformation is reversible. the mechanical property of magnetic rheological body changes with the variation of externally-applied magnetic field, and the magnetorheological damping device that utilizes magnetic rheological body to manufacture has that power consumption is few, dumping force is big, speed of response is fast, simple in structure, dumping force is continuously along contrary good characteristics such as adjustable.Thereby, have a wide range of applications at automotive field.
Traditional automobile power steering system is owing to adopt fixed drive ratio, therefore is difficult to adapt under the different operating modes of high, low speed the variation to the different antagonistic forces of wheel steering system, the too small problem of cornering resistance when turning to painstaking or high speed when producing low speed.The current general means that addresses this problem is to adopt ECS Electronic Control Power Steering system (EPS), comprises two kinds of methods of fluid pressure type and electrodynamic type.Hydraulic EPS system architecture complexity, energy consumption is big, and fiduciary level is not high, loses efficacy easily.Electric-controlled type EPS is relative, and hydraulic EPS has been given up hydraulic efficiency pressure system, and compact conformation is easy to arrange; Owing to adopted electronic control technology, can strengthen servo-actuated and safety so that turning efficiency is optimized, but correspondingly, its price is also expensive.
Summary of the invention
Solve automobile bearing circle stability when running at high speed for effective, and simplified structure, cutting down the consumption of energy, the present invention proposes a kind of auto steering control method and system based on magnetic converting technique.
Technical scheme of the present invention is as follows:
A kind of auto steering control method based on magnetic converting technique, described method is to adorn a magnetorheological damping device on the steering swivel system of automobile, the rotor of magnetorheological damping device rotates with the steering shaft of rack-and-gear steering swivel system, the magnetorheological damping device is controlled by magnetorheological controller, magnetorheological controller is accepted the signal from torque sensor and car speed sensor, according to the assist characteristic rule, calculate the target current size, signal is inputed to driving circuit change size of current, and export to the magnetorheological damping device, during thereby the magnetic field that makes magnetorheological device changes, provide suitable dumping force, guarantee the stability that turns to.
In the driving circuit of described magnetorheological damping device, be provided with current sensor, be used for actual current in the magnetic test coil, on the one hand this electric current is come magnetorheological device is carried out closed loop control as feedback signal, on the other hand with this signal as pilot signal, when major failure takes place, disconnect relay immediately, realize failure monitor function.
According to above method, the present invention further proposes a kind of automobile steering system based on magnetic converting technique, and it comprises automobile steering mechanism, magnetorheological damping device, controller, torque sensor and car speed sensor; Described magnetorheological damping device is installed on the steering hardware, the magnetorheological damping device comprises rotor, stator, magnetic flow liquid and coil, the steering shaft of rotor and steering hardware is fixed, stator by bearing installation on steering shaft, in the space between stator and rotor magnetic flow liquid is housed, coil stationary is on stator.Torque sensor is installed on the steering shaft, and car speed sensor is installed on the wheel hub, and the signal wire (SW) of described torque sensor and car speed sensor is connected into controller respectively; Described controller converts the needed target current high low signal of magnetorheological damping device to by calculating, and inputs to the magnetorheological damping device according to the signal of torque sensor and car speed sensor.
The signal that this method and device can provide according to controller provides damping for the steering shaft of automobile, in automobile steering system to be implemented in the handling maneuver Torque Control of steering swivel system under the different operating modes of automobile, help improving the road-holding property of automobile, solve automobile and make the problem of bearing circle " unstable " running at high speed.Compare with electric-controlled type EPS with hydraulic EPS, have simple in structurely, energy consumption is low, the reliability height, and advantage such as system response is rapid has more market potential.This project is Chongqing City's natural science fund planning item.
Description of drawings
The sketch of the magnetorheological steering swivel system of Fig. 1
The sketch of Fig. 2 magnetorheological damping apparatus
The structured flowchart of Fig. 3 controller
Among the figure, 1 torque sensor, 2 magnetorheological damping devices, 3 steering hardwarees, 4 magnetorheological controllers, 5 car speed sensors,
21 shells, 22 shell filling bearings, 23 rotors, 24 stators are installed bearing, 25 coils, 26 stators, 27 magnetic flow liquids
31 steering shafts
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
Referring to Fig. 1, this steering swivel system comprises: steering hardware 3, magnetorheological damping device 2, magnetorheological controller 4, torque sensor 1 and car speed sensor 5.Magnetorheological damping device 2 is installed on the steering hardware 3, and torque sensor 1 is installed on the steering shaft, and car speed sensor 5 is installed on the wheel hub, is used for the speed of a motor vehicle of measured automobiles.Magnetorheological controller is accepted the signal from torque sensor and car speed sensor, and the instruction of controlling torque is provided for the magnetorheological damping device according to these signals.This steering swivel system can be according to handling maneuver, road conditions and the vehicle condition information of chaufeur, handles the back through magnetorheological controller and send control signal to magnetorheological device, makes the viscosity of the magnetic flow liquid generation damping moment that changes, and the assistance chaufeur is finished steering procedure.When control turns to, the mode of operation of real-time detecting system parts is (under-voltage as battery feed when detecting a certain parts et out of order, car speed sensor no signal output etc.) time, make the magnetorheological damping failure of apparatus, light the breakdown signal indicator lamp simultaneously, show the fault signature sign indicating number, the output breakdown signal.
Referring to Fig. 2, magnetorheological damping device 2 includes shell 21 and the rotor 23, stator 26, magnetic flow liquid 27 and the coil 25 that are assemblied in the shell.Shell 21 is installed on the steering shaft 31 by shell filling bearing 22.Rotor 23 is fixed together with the steering shaft 31 of steering hardware 3, and rotates with steering shaft 31, and stator 26 is installed bearing 24 by stator and is installed on the steering shaft 31.A certain amount of magnetic flow liquid 27 is housed in the space between stator 26 and rotor 23, and coil 25 is fixed on the stator 26, after the energising, can produce stable magnetic field in the magnetic flow liquid 27 between stator 26 and rotor 23.
According to illustrated in figures 1 and 2, vehicle is when running at high speed, when chaufeur is given corner of steering handwheel, apply a moment of torsion, torque sensor 1 passes to the torque signal that produces in the magnetorheological controller 4, car speed sensor 6 passes to vehicle speed signal in the magnetorheological controller 4 simultaneously, can calculate automatically in the magnetorheological controller 4 and prevent the needed damping moment of steering wheel for vehicle " unstable ", again this signal is passed in the magnetorheological damping device 2, according to signal, coil 25 in the stator 22 in the magnetorheological damping device 2 will be switched on automatically, produces the magnetic field of a steady in magnetic flow liquid 27.Because the viscosity of magnetic flow liquid 27 in magnetic field can change.Be fixed on rotor 23 on the steering shaft 31 when rotating, can produce an outbreak that stops rotor rotation firmly, formed damping moment in magnetic field.The steering torque that reduces affacts wheel by the rack and pinion steering gear of steering hardware 3, makes wheel steering.
The basic structure of magnetorheological controller as shown in Figure 3.Automobile in the process of moving, be installed in the car speed sensor on the wheel hub and be installed in torque sensor on the steering shaft and will record signal and be delivered in the micro controller system, micro controller system is through behind the data handing, start damping arrangement as needs, on the one hand signal is passed to the drive program of relay, make relay in running order, this moment, the FET bridge circuit constituted C/LOOP, control the size of received current in the magnetorheological damping device, control the size of dumping force; Otherwise as not starting damping arrangement, driving circuit is not worked; If controller breaks down, alarm lamp drives and starts working, and bright lamp is reported to the police.
This control structure has shown the groundwork process of steering control system: micro controller system passes through analysis and the processing to the signal of torque sensor and car speed sensor, the principle that changes with the variation that adds electromagnetic field according to the mechanical property of magnetic rheological body, calculate the size of target current, export the control signal of magnetorheological device then according to corresponding algorithm routine according to micro controller system, and these signals are input to the alarm lamp driving circuit respectively remove to drive alarm lamp, be input to relay drive circuit and remove to drive relay, be input to the FET base drive circuit and remove to drive the FET bridge circuit, change the size of electric current, during thereby the magnetic field that makes magnetorheological device changes, thereby suitable dumping force is provided, has guaranteed the stability that turns to.
In driving circuit, be provided with current sensor, be used for actual current in the magnetic test coil, on the one hand this electric current is come magnetorheological device is carried out closed loop control as feedback signal, on the other hand can be with this signal as pilot signal, just in case when major failure takes place, system will disconnect relay immediately, realize failure monitor function.
Claims (4)
1. auto steering control method based on the magnetorheological damping device, it is characterized in that, described method is to adorn a magnetorheological damping device on the steering swivel system of automobile, the magnetorheological damping device comprises shell and the rotor, stator, magnetic flow liquid and the coil that are contained in the shell, the steering shaft of rotor and rack-and-gear steering swivel system is fixed, stator on steering shaft, is equipped with magnetic flow liquid in the space between stator and rotor by bearing installation, and coil stationary is on stator; The rotor of magnetorheological damping device rotates with the steering shaft of rack-and-gear steering swivel system, the magnetorheological damping device is controlled by the controller, controller is accepted from the torque sensor and the signal that is installed in car speed sensor on the wheel hub that are installed on the steering shaft, the principle that promptly changes with the variation that adds electromagnetic field according to the assist characteristic rule according to the mechanical property of magnetic flow liquid, calculate the target current size, signal is inputed to driving circuit change size of current, and export to the magnetorheological damping device, thereby the magnetic field of magnetorheological damping device is changed, suitable dumping force is provided, guarantees the stability that turns to.
2. the auto steering control method based on the magnetorheological damping device according to claim 1, it is characterized in that, in described driving circuit, be provided with current sensor, be used for actual current in the magnetic test coil, on the one hand this electric current is come the magnetorheological damping device is carried out closed loop control as feedback signal, on the other hand with this electric current as pilot signal, when major failure takes place, disconnect relay immediately, realize failure monitor function.
3. realize the automobile steering system based on the magnetorheological damping device of claim 1 or 2 described methods, it is characterized in that, comprise automobile steering mechanism, magnetorheological damping device, controller, torque sensor and car speed sensor;
Described magnetorheological damping device is installed on the steering hardware, the magnetorheological damping device comprises shell and the rotor, stator, magnetic flow liquid and the coil that are contained in the shell, the steering shaft of rotor and steering hardware is fixed, stator by bearing installation on steering shaft, in the space between stator and rotor magnetic flow liquid is housed, coil stationary is on stator; Torque sensor is installed on the steering shaft, and car speed sensor is installed on the wheel hub, and the signal wire (SW) of described torque sensor and car speed sensor is connected into controller respectively;
Described controller converts the needed target current high low signal of magnetorheological damping device to by calculating, and inputs to the magnetorheological damping device according to the signal of torque sensor and car speed sensor.
4. the automobile steering system based on the magnetorheological damping device according to claim 3, it is characterized in that, described controller comprises micro controller system, the alarm lamp driving circuit, relay drive circuit, the FET base drive circuit, micro controller system is by signal analysis and processing to torque sensor and car speed sensor, the principle that changes with the variation that adds electromagnetic field according to the mechanical property of magnetic flow liquid, calculate the size of target current, then according to the control signal of micro controller system according to corresponding algorithm routine output magnetorheological damping device, and described control signal is input to the alarm lamp driving circuit respectively removes to drive alarm lamp, be input to relay drive circuit and remove to drive relay, be input to the FET base drive circuit and remove to drive the FET bridge circuit, change the size of target current, make during the magnetic field of magnetorheological damping device changes, thereby suitable dumping force is provided, guarantees the stability that turns to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101043681A CN101607571B (en) | 2009-07-17 | 2009-07-17 | Auto steering control method and system based on magnetorheological technique |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101043681A CN101607571B (en) | 2009-07-17 | 2009-07-17 | Auto steering control method and system based on magnetorheological technique |
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| Publication Number | Publication Date |
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| CN101607571A CN101607571A (en) | 2009-12-23 |
| CN101607571B true CN101607571B (en) | 2011-05-04 |
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| CN2009101043681A Expired - Fee Related CN101607571B (en) | 2009-07-17 | 2009-07-17 | Auto steering control method and system based on magnetorheological technique |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021145697A1 (en) * | 2020-01-15 | 2021-07-22 | 주식회사 만도 | Steer-by-wire steering apparatus |
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| CN103448789A (en) * | 2012-05-31 | 2013-12-18 | 台达电子企业管理（上海）有限公司 | Double-worm electric power steering device and system |
| US9085317B2 (en) * | 2013-07-17 | 2015-07-21 | GM Global Technology Operations LLC | Systems and methods for variable steering assist |
| CN103465954B (en) * | 2013-09-29 | 2015-09-30 | 重庆大学 | Magnetorheology self-reset line-control steering effort positioner |
| CN104401391B (en) * | 2014-10-20 | 2016-05-25 | 浙江万达汽车方向机股份有限公司 | Rack and pinion type magnetofluid electric control hydraulic power steering device and control method |
| CN107963117A (en) * | 2016-10-19 | 2018-04-27 | 法乐第(北京)网络科技有限公司 | A kind of vehicle steering control system |
| CN107972660A (en) * | 2016-10-19 | 2018-05-01 | 法乐第(北京)网络科技有限公司 | A kind of automated driving system |
| CN107458456B (en) * | 2017-06-23 | 2019-08-27 | 江苏大学 | A kind of wire-controlled steering system for being used to container based on hydraulic type |
| CN111032482A (en) * | 2017-08-29 | 2020-04-17 | 蒂森克虏伯普利斯坦股份公司 | Steer-by-wire system for a motor vehicle having a feedback actuator with an integrated MRF bearing |
| WO2019149369A1 (en) * | 2018-02-02 | 2019-08-08 | Thyssenkrupp Presta Ag | Run-time stability monitoring of a steering angle sensor based on nonius principle |
| CN108372883B (en) * | 2018-05-02 | 2019-11-26 | 吉林大学 | Magnetorheological fluid rotates torsional spring power sense feedback device and its application method |
| CN108394461B (en) * | 2018-05-02 | 2019-11-26 | 吉林大学 | The magnetorheological fluid power sense feedback device of monotubular bevel gear type and its application method |
| CN108394460B (en) * | 2018-05-02 | 2023-05-12 | 吉林大学 | Bevel gear magnetorheological fluid force feedback device and use method thereof |
| CN108583676B (en) * | 2018-05-02 | 2019-11-26 | 吉林大学 | Magnetorheological fluid birotor power sense feedback device and its application method |
| CN109178092A (en) * | 2018-09-03 | 2019-01-11 | 天津英创汇智汽车技术有限公司 | Steering load simulator and system |
| KR102644557B1 (en) * | 2018-12-07 | 2024-03-06 | 현대자동차주식회사 | Steering system for vehicle |
| CN109969255B (en) * | 2018-12-28 | 2023-06-23 | 南京航空航天大学 | Circulation ball type electrohydraulic steering system based on magnetorheological fluid and optimization method thereof |
| CN109774785B (en) * | 2019-01-02 | 2023-09-26 | 南京航空航天大学 | Gear-rack type electrohydraulic steering system based on magnetorheological fluid and optimization method |
| CN110466597B (en) * | 2019-07-26 | 2021-09-10 | 江苏大学 | Energy optimization control system of alternating current permanent magnet motor for electric vehicle EPS |
| CN110486409B (en) * | 2019-08-29 | 2020-12-25 | 武汉中车株机轨道交通装备有限公司 | Magnetorheological damper for train of independently adjusting |
| CN112896401B (en) * | 2021-03-17 | 2022-07-26 | 浙江春风动力股份有限公司 | Motorcycle steering system |
| CN114537511A (en) * | 2022-02-21 | 2022-05-27 | 杨洪坤 | Control device and method for preventing automobile electric power steering system from unauthorized operation |
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