CN102717827A - Active electric power-assisting circulation ball type steering system - Google Patents
Active electric power-assisting circulation ball type steering system Download PDFInfo
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- CN102717827A CN102717827A CN201210239783XA CN201210239783A CN102717827A CN 102717827 A CN102717827 A CN 102717827A CN 201210239783X A CN201210239783X A CN 201210239783XA CN 201210239783 A CN201210239783 A CN 201210239783A CN 102717827 A CN102717827 A CN 102717827A
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Abstract
The invention relates to an active electric power-assisting circulation ball type steering system, comprising a steering column tube assembly, a screw rod moving device, a circulation ball type steering device, an electric power-assisting device and an automatic control module. A steering column tube is connected with the upper part of a screw rod of the circulation ball type steering device through a sliding spline, and the electric power-assisting device is connected with the lower part of the screw rod through a sliding spline; the screw rod moving device is sleeved on the screw rod; the screw rod has two motion freedoms; a freedom of rotating around the axis is controlled by a steering wheel; and the other freedom of moving along the axis is controlled by a screw rod moving control motor; a steering nut is moved by overlapping the effects of rotation and axial movement of the screw rod, so that a transmission ratio of the steering system is changed in real time, and the active steering is intervened. The steering system not only can meet the requirements on lightness and high sensitivity at a low-speed steering process and on stable operation at a high-speed steering process, but also has the characteristics of security, compact structure, low cost and the like. The active electric power-assisting circulation ball type steering system is applicable to a medium/light passenger bus and a lorry.
Description
Technical field
The present invention relates to a kind of ball-and-nut steering system, in particularly a kind of being applied to, the active electronic power-assisted ball-and-nut steering system of light bus and autotruck.
Background technology
Automobile with servo steering system of fixed drive ratio; Though can improve the portability that turns to; But still there is following problem: at low speed driving and when parking; Chaufeur need rotate greatly steering handwheel just can make automobile according to the anticipation direction running, operate comparatively loaded down with trivial details, the chaufeur easy fatigue; When running at high speed; The low-angle input of steering handwheel also can make automobile produce bigger yaw velocity; Therefore need chaufeur slowly, low-angle ground rotates that steering handwheel turns to with just making automobile balance, lane change, chaufeur is in a kind of comparatively state of anxiety at this moment, also is easy to generate fatigue.
In order to solve the contradiction of fixed drive ratio steering swivel system under high low speed; Many producers have all developed multi-form active servo steering system; These steering swivel systems can come the real time altering steering system ratio according to the speed of a motor vehicle; When low speed, adopt less transmitting ratio, to reduce the number of turns of rotating steering handwheel; When high speed, adopt bigger transmitting ratio, increase the angle that chaufeur rotates steering handwheel, make to drive to feel to become steady.Simultaneously, active servo steering system can also be carried out the active steering intervention under dangerous operating mode, keeps the road-holding property of automobile.Yet the active servo steering system of volume production is all only used on car now, and the application on passenger vehicle and autotruck also is close to blank, and reason is mainly:
The first, the load that the steering swivel system of passenger vehicle and autotruck bears is bigger, if adopt the version of the active servo steering system on the existing car, then can make volume, quality increase more.
The second, passenger vehicle and autotruck are had relatively high expectations to safety, and there is certain potential safety hazard in the version of the active servo steering system on the existing car under heavy load.
Summary of the invention
The objective of the invention is to the deficiency to prior art, propose a kind of active electronic power-assisted ball-and-nut steering system.Technical matters to be solved is: the safety that improves active electronic servo steering system; Reduce its size; Alleviate its quality; Make it can be applied to passenger vehicle and autotruck, realize servo-steering, carry out the function that active steering is intervened with speed of a motor vehicle real time altering steering system ratio and under dangerous operating mode.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme, and accompanying drawings is following:
A kind of active electronic power-assisted ball-and-nut steering system; Comprise steering-column tube assembly, screw rod mobile device, ball-and-worm steering system, electric booster and automatic control module, said steering-column tube assembly comprises steering handwheel 1, steering-column tube 24, rotary angle transmitter 2 and torque sensor 3, captives joint with steering handwheel 1 in steering-column tube 24 upper ends; Rotary angle transmitter 2 is integrated in respectively in the steering-column tube 24 with torque sensor 3; The screw rod 29 of steering-column tube 24 lower ends and ball-and-worm steering system 6 is connected through free-sliding spline, and screw rod mobile device 5 is sleeved on the top of screw rod 29, and screw rod 29 bottoms are connected through free-sliding spline with electric booster; The tooth fan 35 of ball-and-worm steering system 6 is through rotating pitman arm 7; Promote steering drag link 9 and rotate track arm 12, make steering trapezium 10 motions, finally rotate two front-wheels 11.
Said screw rod mobile device 5 comprises that moving double-screw bolt 25, nut gear 26, driving gear 40 and screw rod moves control motor 4, and moving double-screw bolt 25 is sleeve-like, and its outside face adopts Acme thread to cooperate with nut gear 26 endoporus, and it is secondary to form motion thread; Move double-screw bolt 25 inside faces and be provided with flange, on screw rod 29, and screw rod 29 is carried out axial location through these two bearings through two angular contact ball bearing 39 clamp fittings; Said nut gear 26 both ends of the surface are supported between loam cake 41 and the middle cover 28 through a pair of thrust ball bearing 27, and the nut gear teeth 26 are meshed with driving gear 40; Driving gear 40 is fitted in screw rod and moves on the output shaft of controlling motor 4, and screw rod moves control motor 4 and is installed on the loam cake 41; Between loam cake 41 and the middle cover 28, captive joint between middle cover 28 and the housing 36.
The screw rod 29 of said ball-and-worm steering system 6 adopts long bolt; Its two ends are male splines, and the female splines bearing fit of the male splines of upper end and steering-column tube 24 lower ends, screw rod have around its rotational with along its axis and move this two degree of freedom; The two ends of screw rod 29 are optical axis; Respectively be with copper screw rod axle sleeve 37 on it, screw rod axle sleeve 37 is positioned the inner ring of deep groove ball bearing 38, and the outer ring of deep groove ball bearing 38 is fixed in the housing 36; The interposition thread segment is equipped with a plurality of steel balls 30 in the helix alley of screw rod 29 and steering nut 31, and it is secondary to form worm drive; Steering nut 31 outside sides are processed with tooth fans 35 mating teeth bars, and the axle head of tooth fan 35 links to each other with pitman arm 7, thus external output torque.
Said electric booster comprises worm gear 8, worm screw 34, assist motor 13, lower cover 33; Worm gear 8 centre holes are female splines; With the male splines bearing fit of screw rod 29 lower ends, the both ends of the surface of worm gear 8 are supported between housing 36 and the lower cover 33 through a pair of tapered roller bearing 32 respectively, and the gear teeth of worm gear 8 are meshed with the worm screw that is positioned at an end 34; Form the worm and gear transmission; Worm screw 34 press-fits on the output shaft of assist motor 13, and on housing 36, housing 36 passes through bolted connection with lower cover 33 to assist motor 13 through bolt.
Said automatic control module comprises electronic control unit 21; Rotary angle transmitter 2, torque sensor 3 signal wire (SW) 22,23 separately inserts electronic control unit 21; Electronic control unit 21 moves through screw rod respectively and controls motor 4, assist motor 13 current/voltage feedback signal is separately controlled two motors; Wherein, 21 pairs of screw rods of electronic control unit move control motor 4 and carry out angle control, and assist motor 13 is carried out Torque Control, and the circuit that is used to transmit GES 19, vehicle stabilization control module signal of communication 20 and breakdown signal 18 also inserts electronic control unit 21 respectively.
Said electronic control unit 21 is made up of treater, Voltage stabilizing module, input data processing module, motor drive module; Wherein, 16 micro controller systems of processor adopting Freescale MC9S12XS128 formula; Adopt the LM2940 chip as the voltage stabilizing chip in the Voltage stabilizing module, motor drive module adopts the L298 chip, and the automobile batteries that electronic control unit 21 adopts 12V voltage is as power supply.
Beneficial effect:
The hydraulic power-assist steering system that generally adopts than passenger vehicle and autotruck now; Active electronic power-assisted ball-and-nut steering of the present invention system adopts electric power steering, have that volume is little, light weight, response are fast, control precisely, energy consumption is little, pollute little advantage.
Than the fixing steering swivel system of transmitting ratio, active electronic power-assisted ball-and-nut steering of the present invention system adopts active variable ratio steering, and this system can be according to speed of a motor vehicle real time altering steering system ratio.Adopt less transmitting ratio at low speed and when parking, to reduce the number of turns of chaufeur steering wheel rotation, reduce the working strength of chaufeur, this seems particularly important for the driver of passenger vehicle and autotruck; When high speed, adopt bigger transmitting ratio,, make to drive to feel to become steady, reduce the tensity of chaufeur, reduce driving fatigue, also improved vehicle handling and stability and safety simultaneously to increase the angle that chaufeur rotates steering handwheel.Soon break away, under the limiting condition such as braking deviation, this system can also with the collaborative work of vehicle stabilization control system, front wheel angle is carried out pro-active intervention, improved riding stability and safety greatly.
Than existing active servo steering system, active electronic power-assisted ball-and-nut steering of the present invention system has following advantage:
The first, the control of the axial linear movement of the screw rod of employing screw thread transmission realization ball-and-worm steering system, thus realize the stack of steering angle and subdue the i.e. change of transmitting ratio.The screw thread transmission has the failure-free self-locking property; Therefore do not need to install additional in addition electromagnetic lock; When screw rod moves control motor et out of order; The moving axially degree of freedom and can be limited the screw thread self-locking of screw rod, steering swivel system still can work on the mode of fixed drive ratio, thereby has guaranteed driving safety.In addition, this thread transmission also has stable drive, compact conformation, easily manufactured, low cost and other advantages.
The second, guaranteed that from structure the road feel that chaufeur experiences from steering handwheel is constant.The revolute pair that this system is relevant with screw rod all adopts antifriction-bearing box, thereby has guaranteed that the forward efficiency of steering swivel system, adverse efficiency all are equivalent to the conventional electric-powered servo steering system.
The 3rd, the parts integrated level is high, compact overall structure, and accuracy of manufacture requires relatively low, and cost is lower.
Description of drawings
Fig. 1 is a system schematic of the present invention;
Fig. 2 is a deflector structural representation of the present invention.
Wherein: 1. steering handwheel, 2. rotary angle transmitter, 3. torque sensor, 4. screw rod moves the control motor, 5. screw rod mobile device, 6. ball-and-worm steering system; 7. pitman arm, 8. worm gear, 9. steering drag link, 10. steering trapezium, 11. front-wheels, 12. track arms; 13. assist motor, 14. assist motor current/voltage feedback signals, 15. assist motor control signals, 16. screw rods move the control motor control signal, and 17. screw rods move control current of electric voltage feedback signal, 18. breakdown signals; 19. GES, 20. vehicle stabilization control module signals of communication, 21. electronic control units, 22. steering wheel angle signals, 23. steering-wheel torque signals, 24. steering-column tubes; 25. move double-screw bolt, 26. nut gear, 27. thrust ball bearings, 28. middle cover, 29. screw rods, 30. steel balls; 31. steering nut, 32. tapered roller bearings, 33. lower covers, 34. worm screws, 35. teeth fan, 36. housings; 37. the screw rod axle sleeve, 38. deep groove ball bearings, 39. angular contact ball bearings, 40. driving gears, 41. loam cakes.
The specific embodiment
Below in conjunction with accompanying drawing particular content of the present invention and embodiment thereof are described in further detail:
Referring to Fig. 1, Fig. 2, active electronic power-assisted ball-and-nut steering of the present invention system is made up of steering-column tube assembly, screw rod mobile device 5, ball-and-worm steering system 6, electric booster, automatic control module.Steering-column tube 24 lower ends in the steering-column tube assembly are connected through free-sliding spline with the upper end of the screw rod 29 of ball-and-worm steering system 6, make the two relative motion vertically.Screw rod mobile device 5 is enclosed within the top of screw rod 29, in order to the longitudinal travel of control screw rod 29.The bottom of screw rod 29 is connected through free-sliding spline with electric booster, makes the two relative motion vertically.The torque that chaufeur is input into steering handwheel 1 passes to screw rod 29 through steering-column tube 24; The assist torque of electric booster also reaches screw rod 29; The tooth fan 35 of driven in common ball-and-worm steering system 6 rotates pitman arm 7; Thereby promote steering drag link 9, rotate track arm 12, make steering trapezium 10 motions, finally rotate two front-wheels 11.
The present invention realizes that the change of steering system ratio and the groundwork of active steering are: the screw rod 29 of ball-and-worm steering system has around the rotation of its axis with along these two degree of freedom that move of its axis.Screw rod 29 is controlled by steering handwheel 1 around the degree of freedom of rotational, and steering nut 31 is moved axially; Screw rod 29 moves 4 controls of control motor along the degree of freedom that axis moves by screw rod; Steering nut 31 is moved axially; So; It is to move the corner of control motor 4 effect after superimposed by the corner of steering handwheel 1 and screw rod that 31 of steering nut moves, thereby increases or reduce the corner of chaufeur input.
Referring to Fig. 1, the steering-column tube assembly comprises steering handwheel 1, steering-column tube 24, rotary angle transmitter 2, torque sensor 3.Captive joint with steering handwheel 1 in steering-column tube 24 upper ends, the two rotates synchronously.Rotary angle transmitter 2 is installed on respectively in the steering-column tube 24 with torque sensor 3, in order to detect the steering wheel angle signal 22 and steering-wheel torque signal 23 of steering handwheel 1 output.
Referring to Fig. 2, screw rod mobile device 5 comprises that mobile double-screw bolt 25, nut gear 26, driving gear 40, screw rod move control motor 4, loam cake 41, middle cover 28.Stage casing, screw rod 29 top is with a pair of angular contact ball bearing 39, and two bearings is through the nut pretension on the screw rod 29 and clamp the inward flange that moves double-screw bolt 25, all axial forces that these two bearings carry out axial location and transmit screw rod 29 screw rod 29.Moving double-screw bolt 25 is sleeve-like, and its cylindrical has Acme thread.Circle matches with the outside thread of mobile double-screw bolt 25 for Acme thread in nut gear 26 centre holes, and it is secondary to form motion thread.Nut gear 26 both ends of the surface are supported between loam cake 41 and the middle cover 28 through a pair of thrust ball bearing 27, and the gear teeth of its cylindrical are meshed with driving gear 40.Driving gear 40 moves control motor 4 by screw rod and drives, and screw rod moves control motor 4 and passes through screw retention on loam cake 41.Loam cake 41 and middle cover 28 be through bolted connection, and middle cover 28 and housing 36 are connected through screw.When needs superpose or subdue steering angle; Screw rod moves control motor 4 and drives driving gear 40; Because nut gear 26 axial locations are defined; So the rotation of nut gear 26 will move up and down mobile double-screw bolt 25 through the motion thread pair, drive screw rods 29 through angular contact ball bearing 39 and move up and down.Owing to angular contact ball bearing 39 is arranged, moves double-screw bolt 25 and can freely relatively rotate with screw rod 29.
Referring to Fig. 2, ball-and-worm steering system comprises screw rod 29, screw rod axle sleeve 37, steering nut 31, steel ball 30, tooth fan 35, housing 36.Screw rod 29 two ends are male splines, and the male splines of its upper end and the female splines bearing fit of steering-column tube 24 lower ends can move axially screw rod 29 with respect to steering-column tube 24, and can transmitting torque.Two copper screw shaft 37 covers are placed in respectively on two sections optical axises of screw rod 29.Screw rod axle sleeve 37 is positioned the inner ring of deep groove ball bearing 38, and the outer ring of deep groove ball bearing 38 is fixed in the housing.Two deep groove ball bearings 38 do not limit screw rod 29 axially movable degree of freedom with screw rod axle sleeve 37.It is secondary that screw rod 29, steering nut 31 and the many steel balls 30 that are positioned at both helix alleys form worm drive.Steering nut 31 exterior tooth bars and 35 engagements of tooth fan, pitman arm 7 is fixed in the axle head of tooth fan 35, externally output torque.
Referring to Fig. 2, electric booster comprises worm gear 8, worm screw 34, assist motor 13, lower cover 33.Worm gear 8 centre holes are female splines, with screw rod 29 lower end male splines bearing fits, screw rod 29 can be moved axially in worm gear 8, and can transmitting torque.The both ends of the surface of worm gear 8 are supported between housing 36 and the lower cover 33 through a pair of tapered roller bearing 32 respectively.Worm gear 8 gear teeth are meshed with the worm screw that is positioned at right-hand member 34.Worm screw 34 is driven by assist motor 13, and assist motor 13 passes through bolt in housing 36.Housing 36 passes through bolted connection with lower cover 33.When the needs servo-steering, assist motor 13 drives worm screw 34, and torque passes to screw rod 29 through worm gear 8.
Referring to Fig. 1, automatic control module comprises electronic control unit 21, lead.Electronic control unit 21 is made up of treater, Voltage stabilizing module, input data processing module, motor drive module.Wherein, 16 micro controller systems of processor adopting Freescale MC9S12XS128 formula; Adopt the LM2940 chip as the voltage stabilizing chip in the Voltage stabilizing module; Motor drive module adopts the L298 chip.The automobile batteries that electronic control unit 21 adopts 12V voltage is as power supply.GES 19 is by the magneto-electric coder collection that is installed on wheel.Rotary angle transmitter 2 adopts the noncontact steering angle sensor, in order to gather steering wheel angle signal 22.Torque sensor 3 adopts non-contact torque sensor, in order to gather steering-wheel torque signal 23.Electronic control unit 21 connects through communication line with the vehicle stabilization control module, in order to transmit vehicle stabilization control module signal of communication 20.GES 19, steering wheel angle signal 22, steering-wheel torque signal 23, vehicle stabilization control module signal of communication 20, assist motor current/voltage feedback signal 14 and screw rod move control current of electric voltage feedback signal 17 inserts electronic control unit 21 respectively through input signal cable input data processing module.The motor drive module of electronic control unit 21 moves control motor 4 with screw rod respectively through output signal line and is connected with assist motor 13, moves control motor control signal 16 and assist motor control signal 15 in order to transmit screw rod.Breakdown signal 18 is connected to the emergency light of automobile instrument panel by the pin output of treater through output signal line.
When normal vehicle operation; Electronic control unit 21 is according to the steering wheel angle signal 22 and GES 19 of this moment; Through searching the steering system ratio that pre-deposits---speed of a motor vehicle relation curve; Determine required steering system ratio, to screw rod move control motor 4 see off screw rod move control motor control signal 16; Simultaneously; Electronic control unit 21 moves control current of electric voltage feedback signal 17 according to steering-wheel torque signal 23, GES 19 and the screw rod of this moment; Through search the assist torque that pre-deposits---speed of a motor vehicle---steering-wheel torque concerns curved surface; Determine required power steering moment; And move control current of electric voltage feedback signal 17 through screw rod and calculate compensating moment, thereby compensation screw rod 29 moves axially the moment of reaction that is produced, reach steering handwheel 1, finally assist motor 13 is seen off assist motor control signal 15.When limiting conditions such as vehicle soon breaks away, braking deviation; The vehicle stabilization control module spreads out of vehicle stabilization control module signal of communication 20; The front wheel angle that appointment needs increase or reduces; 21 pairs of screw rods of electronic control unit move the control motor and see corresponding screw rod off and move control motor control signal 16, and pro-active intervention turns to, thereby keeps the stability of vehicle under limiting condition.
When two motors are seen off control signal; Electronic control unit 21 is gathered screw rod and is moved control current of electric voltage feedback signal 17 and assist motor current/voltage feedback signal 14; The numerical value and the expected value of sampling are compared, adopt PID (proportional-integral-differential) control policy to carry out closed loop control.Wherein, screw rod is moved control motor 4 carry out angle control, assist motor 13 is carried out Torque Control.
Embodiment one
Referring to Fig. 1, Fig. 2, under lower speed of operation, chaufeur rotates steering handwheel 1 to a certain direction; Driving steering nut 31 through screw rod 29 moves to a certain direction; After electronic control unit 21 calculates required stack corner, make screw rod move control motor 4 and rotate, make screw rod 29 produce certain moving axially; Directly driving steering nut 31 moves; Its sense of motion is identical with the direction that screw rod 29 rotates steering nut 31 displacements that produced, and being equivalent to has increased a part of steering angle on the basis of steering handwheel 1 input corner, thereby steering system ratio is reduced.Therefore, under the condition that produces certain front-wheel 11 corners, chaufeur just can reduce the angle and the number of turns of rotating steering handwheel 1, makes to turn to become sensitive, has reduced the operation element amount of chaufeur.Under higher speed of operation; Chaufeur rotates steering handwheel 1 to a certain direction; Electronic control unit 21 makes direction and the screw rod 29 that move axially of steering nut 31, and to rotate the sense of displacement of the steering nut 31 that is produced opposite; Be equivalent on the basis of steering handwheel 1 input corner, subdue a part of steering angle, thereby steering system ratio is increased.Therefore, under the condition that produces certain front-wheel 11 corners, chaufeur need increase the rotational angle of steering handwheel 1, make to turn to become sedate, and road-holding property when having improved high vehicle speeds and safety, the tensity of reduction chaufeur reduces driving fatigue.
In said process, electric power-assisted steering apparatus not only need provide different power steering moment, also need compensate screw rod 29 and move axially the moment of reaction that is produced, reach steering handwheel 1, thereby not influence the driving experience of chaufeur.
Embodiment two
Referring to Fig. 1, Fig. 2; When screw rod moves control motor 4 et out of orders; Owing to move the self-locking action of the motion thread between double-screw bolt 25 and the nut gear 26, make screw rod 29 axially movable degree of freedom be lockable, thereby be unlikely to take place to cause the situation of the uncontrollable Vehicular turn of chaufeur because of screw rod 29 free plaies; Automobile can be continued to go with fixing steering system ratio, improved the safety of active steering swivel system.Detecting after screw rod moves control motor 4 et out of orders, electronic control unit 21 will send breakdown signal 18, and the emergency light of automobile instrument panel is lighted, and reminds chaufeur in time to overhaul.
Claims (6)
1. active electronic power-assisted ball-and-nut steering system; Comprise steering-column tube assembly, screw rod mobile device, ball-and-worm steering system, electric booster and automatic control module; It is characterized in that said steering-column tube assembly comprises steering handwheel (1), steering-column tube (24), rotary angle transmitter (2) and torque sensor (3), captives joint with steering handwheel (1) in steering-column tube (24) upper end; Rotary angle transmitter (2) is integrated in respectively in the steering-column tube (24) with torque sensor (3); Steering-column tube (24) lower end is connected through free-sliding spline with the screw rod (29) of ball-and-worm steering system (6), and screw rod mobile device (5) is sleeved on the top of screw rod (29), and screw rod (29) bottom is connected through free-sliding spline with electric booster; The tooth fan (35) of ball-and-worm steering system (6) is through rotating pitman arm (7); Promote steering drag link (9) and rotate track arm (12), make steering trapezium (10) motion, finally rotate two front-wheels.
2. a kind of active electronic power-assisted ball-and-nut steering according to claim 1 system; It is characterized in that; Said screw rod mobile device (5) comprises that mobile double-screw bolt (25), nut gear (26), driving gear (40) and screw rod move control motor (4); Moving double-screw bolt (25) is sleeve-like, and its outside face adopts Acme thread to cooperate with nut gear (26) endoporus, and it is secondary to form motion thread; Move double-screw bolt (25) inside face and be provided with flange, on screw rod (29), and screw rod (29) is carried out axial location through these two bearings through two angular contact ball bearings (39) clamp fitting; Said nut gear (26) both ends of the surface are supported between loam cake (41) and the middle cover (28) through a pair of thrust ball bearing (27), and the nut gear teeth (26) are meshed with driving gear (40); Driving gear (40) is fitted in screw rod and moves on the output shaft of controlling motor (4), and screw rod moves control motor (4) and is installed on the loam cake (41); Between loam cake (41) and the middle cover (28), captive joint between middle cover (28) and the housing (36).
3. a kind of active electronic power-assisted ball-and-nut steering according to claim 1 and 2 system; It is characterized in that the screw rod (29) of said ball-and-worm steering system (6) adopts long bolt, its two ends are male splines; The male splines of upper end and the female splines bearing fit of steering-column tube (24) lower end; Screw rod has around its rotational with along its axis and moves this two degree of freedom, and the two ends of screw rod (29) are optical axis, respectively are with copper screw rod axle sleeve (37) on it; Screw rod axle sleeve (37) is positioned the inner ring of deep groove ball bearing (38), and the outer ring of deep groove ball bearing (38) is fixed in the housing (36); The interposition thread segment is equipped with a plurality of steel balls (30) in the helix alley of screw rod (29) and steering nut (31), and it is secondary to form worm drive; The outside side of steering nut (31) is processed with and tooth fan (35) mating teeth bar, and the axle head of tooth fan (35) links to each other with pitman arm (7), thus external output torque.
4. a kind of active electronic power-assisted ball-and-nut steering according to claim 1 and 2 system; It is characterized in that; Said electric booster comprises worm gear (8), worm screw (34), assist motor (13), lower cover (33), and worm gear (8) centre hole is a female splines, with the male splines bearing fit of screw rod (29) lower end; The both ends of the surface of worm gear (8) are supported between housing (36) and the lower cover (33) through a pair of tapered roller bearing (32) respectively; The gear teeth of worm gear (8) are meshed with the worm screw that is positioned at an end (34), form the worm and gear transmission, and worm screw (34) press-fits on the output shaft of assist motor (13); On housing (36), housing (36) passes through bolted connection with lower cover (33) to assist motor (13) through bolt.
5. a kind of active electronic power-assisted ball-and-nut steering according to claim 1 and 2 system; It is characterized in that; Said automatic control module comprises electronic control unit (21); Rotary angle transmitter (2), torque sensor (3) signal wire (SW) (22,23) separately inserts electronic control unit (21); Electronic control unit (21) moves through screw rod respectively and controls motor (4), assist motor (13) current/voltage feedback signal is separately controlled two motors, and wherein, electronic control unit (21) moves control motor (4) to screw rod and carries out angle control; Assist motor (13) is carried out Torque Control, and the circuit that is used to transmit GES (19), vehicle stabilization control module signal of communication (20) and breakdown signal (18) also inserts electronic control unit (21) respectively.
6. a kind of active electronic power-assisted ball-and-nut steering according to claim 1 and 2 system; It is characterized in that; Said electronic control unit (21) is made up of treater, Voltage stabilizing module, input data processing module, motor drive module; Wherein, 16 micro controller systems of processor adopting Freescale MC9S12XS128 formula adopt the LM2940 chip as the voltage stabilizing chip in the Voltage stabilizing module; Motor drive module adopts the L298 chip, and electronic control unit (21) adopts the automobile batteries of 12V voltage as power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210239783XA CN102717827A (en) | 2012-07-11 | 2012-07-11 | Active electric power-assisting circulation ball type steering system |
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| CN201210239783XA CN102717827A (en) | 2012-07-11 | 2012-07-11 | Active electric power-assisting circulation ball type steering system |
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| CN103496395A (en) * | 2013-10-09 | 2014-01-08 | 浙江达世元电动科技有限公司 | Electric steering system and electric steering control method for new-energy automobile |
| CN105448044A (en) * | 2016-01-11 | 2016-03-30 | 上海雷腾软件股份有限公司 | Method and device for determining fatigue state of driver |
| CN106143604A (en) * | 2016-08-22 | 2016-11-23 | 平阳创迷电子商务有限公司 | A kind of automobile steering system of Small-angle Rotation |
| CN107150715A (en) * | 2016-10-09 | 2017-09-12 | 中国北方车辆研究所 | A kind of power steering gear of intelligent control steering wheel critical angle |
| CN107600173A (en) * | 2017-09-20 | 2018-01-19 | 南京航空航天大学 | A kind of automobile hydraulic variable ratio steering and its Multipurpose Optimal Method |
| WO2018157051A1 (en) * | 2017-02-24 | 2018-08-30 | China Automotive Systems, Inc. | Electrically-powered recirculating-ball steering gear assembly |
| CN108974116A (en) * | 2016-10-09 | 2018-12-11 | 中国北方车辆研究所 | A kind of diverter support seat assembly and its diverter |
| 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 |
| JP2019156082A (en) * | 2018-03-12 | 2019-09-19 | クノールブレムゼステアリングシステムジャパン株式会社 | Steering device |
| CN112477977A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Vehicle power-assisted steering device and control method thereof |
| CN112638748A (en) * | 2019-07-04 | 2021-04-09 | 罗伯特·博世有限公司 | Steering system for vehicle |
| CN114771647A (en) * | 2022-06-21 | 2022-07-22 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
| WO2022227601A1 (en) * | 2021-06-30 | 2022-11-03 | 南京航空航天大学 | Multi-functional electric recirculating ball steering system for commercial vehicle, and control method therefor |
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| CN103496395A (en) * | 2013-10-09 | 2014-01-08 | 浙江达世元电动科技有限公司 | Electric steering system and electric steering control method for new-energy automobile |
| CN105448044A (en) * | 2016-01-11 | 2016-03-30 | 上海雷腾软件股份有限公司 | Method and device for determining fatigue state of driver |
| CN105448044B (en) * | 2016-01-11 | 2018-09-18 | 上海雷腾软件股份有限公司 | A kind of method and apparatus of determining tired driver state |
| CN106143604B (en) * | 2016-08-22 | 2018-06-19 | 吴左象 | A kind of automobile steering system of Small-angle Rotation |
| CN106143604A (en) * | 2016-08-22 | 2016-11-23 | 平阳创迷电子商务有限公司 | A kind of automobile steering system of Small-angle Rotation |
| CN108974116A (en) * | 2016-10-09 | 2018-12-11 | 中国北方车辆研究所 | A kind of diverter support seat assembly and its diverter |
| CN107150715B (en) * | 2016-10-09 | 2018-12-28 | 中国北方车辆研究所 | A kind of power steering gear of intelligent control steering wheel critical angle |
| CN107150715A (en) * | 2016-10-09 | 2017-09-12 | 中国北方车辆研究所 | A kind of power steering gear of intelligent control steering wheel critical angle |
| CN108974116B (en) * | 2016-10-09 | 2020-04-28 | 中国北方车辆研究所 | Steering gear supporting seat assembly and steering gear thereof |
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| US10647346B2 (en) | 2017-02-24 | 2020-05-12 | China Automotive Systems, Inc | Electrically-powered recirculating-ball steering gear assembly |
| CN110869264A (en) * | 2017-02-24 | 2020-03-06 | 中国汽车***股份公司 | Electric circulating ball type steering gear component |
| CN107600173A (en) * | 2017-09-20 | 2018-01-19 | 南京航空航天大学 | A kind of automobile hydraulic variable ratio steering and its Multipurpose Optimal Method |
| CN107600173B (en) * | 2017-09-20 | 2024-03-19 | 南京航空航天大学 | Automobile hydraulic variable transmission ratio steering system and multi-objective optimization method thereof |
| JP2019156082A (en) * | 2018-03-12 | 2019-09-19 | クノールブレムゼステアリングシステムジャパン株式会社 | Steering device |
| JP7118673B2 (en) | 2018-03-12 | 2022-08-16 | クノールブレムゼステアリングシステムジャパン株式会社 | steering device |
| 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 |
| CN112638748A (en) * | 2019-07-04 | 2021-04-09 | 罗伯特·博世有限公司 | Steering system for vehicle |
| CN112477977A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Vehicle power-assisted steering device and control method thereof |
| WO2022227601A1 (en) * | 2021-06-30 | 2022-11-03 | 南京航空航天大学 | Multi-functional electric recirculating ball steering system for commercial vehicle, and control method therefor |
| US11753066B2 (en) | 2021-06-30 | 2023-09-12 | Nanjing University Of Aeronautics And Astronautics | Multifunctional electric recirculating ball steering system for commercial vehicles and control method thereof |
| US20230045603A1 (en) * | 2021-08-06 | 2023-02-09 | Mando Corporation | Electric power steering apparatus |
| CN114771647A (en) * | 2022-06-21 | 2022-07-22 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
| CN114771647B (en) * | 2022-06-21 | 2022-10-21 | 太原理工大学 | Spiral variable transmission ratio mechanism, electro-hydraulic power steering system applying same and method |
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