CN105667572A - Angle sensor, electric power steering system and method for obtaining steering wheel angle - Google Patents
Angle sensor, electric power steering system and method for obtaining steering wheel angle Download PDFInfo
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- CN105667572A CN105667572A CN201410668445.7A CN201410668445A CN105667572A CN 105667572 A CN105667572 A CN 105667572A CN 201410668445 A CN201410668445 A CN 201410668445A CN 105667572 A CN105667572 A CN 105667572A
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Abstract
The invention provides an angle sensor, an electric power steering system and a method for obtaining a steering wheel angle. The angle sensor comprises a shell, a rack, a gear shaft and a rack displacement obtaining device. The rack is fixedly installed in the shell. The gear shaft is engaged with the rack and arranged in the middle position of the distribution length of teeth on the rack. The gear shaft is further connected with a steering wheel through a steering column. The rack displacement obtaining device is fixedly installed in the shell and is suitable for measuring the displacement generated by the rack along with the rotation of the steering wheel. By the adoption of the scheme, the final assembly time of a vehicle can be saved.
Description
Technical field
The present invention relates to technical field of automobile control, particularly relate to the acquisition methods of a kind of rotation angular sensing device and electric boosting steering system, steering wheel angle.
Background technology
Automobile steering system comprises a series of devices for changing or keep automobile advance or reverse direction. The function of automobile steering system is exactly the travel direction of the wish control automobile according to officer. Automobile steering system is most important to the driving safety of automobile, is important total one-tenth that car safety must be paid attention to, and its main effect is the travel direction changing or keeping automobile.
Electric boosting steering system (ElectricalPowerSteering, EPS), it it is the power steering system that a kind of direct dependence motor provides auxiliary torque, it forms primarily of torque transducer, vehicle speed sensor, electric motor, retarding mechanism and electronically controlled unit (ElectronicControlUnit, ECU) etc. With traditional hydraulic power-assist steering system (HydraulicPowerSteering, HPS) compare, EPS can effectively save whole car fuel oil consumption and can realize vehicle low speed rotation to time portability and the stability of high speed steering and direction controlling, its application on whole car also increases gradually.
Initiatively just returning and tooth bar end protection function to realize bearing circle, EPS needs to receive bearing circle angular signal, judges corner and the position of bearing circle. At present, the source of angular signal that EPS receives bearing circle has be from steering wheel angle sensor at two: one, and two is from the built-in rotation angular sensing device of EPS.
But, it is no matter the built-in rotation angular sensing device of steering wheel angle sensor or EPS, all needs to carry out when whole car rolls off the production line Zero positioning, have impact on the general assembly progress of vehicle.
Summary of the invention
What the embodiment of the present invention solved is the zero-bit how determining rotation angular sensing device, to save total ETL estimated time of loading of vehicle.
For solving the problem, embodiments provide a kind of novel steering wheel angle sensor, comprising:
Housing and tooth bar, gear shaft and rack displacement acquisition device;
Described tooth bar is fixedly mounted in described housing, and gear shaft is meshed with described tooth bar, and is arranged on the mid-way of the distribution length of tooth on described tooth bar, and gear shaft is also by turning to tubing string to be connected with described bearing circle;
Described rack displacement acquisition device is fixedly mounted in described housing, is suitable for measuring the displacement that described tooth bar produces along with described rotating of steering wheel.
Can selection of land, described rack displacement acquisition device comprises grating and grating inductor block;
Described grating is arranged on described rack bar side on the surface, and setting corresponding to the tooth on described tooth bar;
Described grating inductor block is installed in described inner walls, and is positioned at the surface of described grating.
Can selection of land, the length of described grating is equal with the distribution length of tooth on described tooth bar.
The embodiment of the present invention additionally provides a kind of electronic power assist steering system, the rotation angular sensing device that described system is above-mentioned.
The embodiment of the present invention additionally provides the acquisition methods of a kind of steering wheel angle, and described method comprises:
Rack displacement acquisition device is adopted to obtain the displacement of tooth bar;
Displacement according to the tooth bar that described rack displacement acquisition device obtains, calculates described steering wheel angle.
Can selection of land, adopt steering wheel angle described in following formulae discovery:
c1=360*a/b;
Wherein, c1For described steering wheel angle, a is the displacement of described tooth bar, and b is line angle transmitting ratio.
Can selection of land, described method also comprises:
The described steering wheel angle calculated and the steering wheel angle calculated according to motor position are compared;
When difference between the steering wheel angle calculated and the steering wheel angle calculated according to motor position is less than default threshold value, using the steering wheel angle calculated or the steering wheel angle that calculates according to motor position as final steering wheel angle;
When difference between the steering wheel angle calculated and the steering wheel angle calculated according to motor position is greater than or equal to default threshold value, whether the steering wheel angle judging to calculate respectively is effective with the steering wheel angle obtained according to motor position calculating;
When the steering wheel angle calculated or the steering wheel angle that calculates according to motor position are effective, using effective steering wheel angle as final steering wheel angle;
When judge the steering wheel angle that calculates and calculate according to motor position the steering wheel angle that obtains all effectively time, issue fault warning information.
Can selection of land, the described steering wheel angle calculated according to motor position, comprising:
c2=θ/r;
Wherein, c2For steering wheel angle, θ is the rotation angle of the motor that motor position sensor records, and r is worm gear transmission ratio
Compared with prior art, the technical scheme of the present invention has following advantage:
Owing to adopting the rotation angular sensing device of tooth bar, gear shaft and rack displacement acquisition device composition bearing circle, and gear shaft is meshed with described tooth bar, and the mid-way of the distribution length being arranged on tooth bar tooth, can using the zero-bit of the mid-way of the distribution length of tooth on tooth bar as rotation angular sensing device, and without the need to carrying out the zero correction of rotation angular sensing device in the process of vehicle general assembly again, therefore, it is possible to save total ETL estimated time of loading of vehicle.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of rotation angular sensing device of the prior art;
Fig. 2 is the structure for amplifying schematic diagram of the rotation angular sensing device shown in Fig. 1;
Fig. 3 is the cross-sectional view of the rotation angular sensing device in the embodiment of the present invention;
Fig. 4 is the amplification profile structural representation of the rotation angular sensing device shown in Fig. 3;
Fig. 5 is the schema of the acquisition methods of the steering wheel angle in the embodiment of the present invention.
Embodiment
In prior art, a kind of steering wheel angle sensor, can comprise: master wheel, the first pinion(gear), two pinion and process circuit, wherein, master wheel is with turning to tubing string coaxial and is fixed on and turns on tubing string, first pinion(gear) and two pinion are meshed with master wheel respectively, and the number of teeth difference 1 between the first pinion(gear) and two pinion.
When rotating of steering wheel, master wheel, also along with turning to tubing string synchronous rotary, drives the first pinion(gear) and two pinion to rotate simultaneously, and the first pinion(gear) and two pinion gather them respectively separately with the corner of rotating of steering wheel. Owing to the number of teeth of two the first pinion(gear)s and two pinion differs one, the different number of turns will differ specific angle, thus by process circuit by pinion(gear) and rotation angle carry out comparing calculation, just can obtain steering wheel angle.
At present, it is necessary to after carrying out Zero positioning, EPS controller receives the angular signal from steering wheel angle sensor again, and realizes bearing circle return function and steering rack end protection function etc. according to described angular signal. If not carrying out the Zero positioning of rotation angular sensing device, then steering wheel angle signal mistake may occur or cannot normally send the problem of angular signal. The zero-bit of steering wheel angle sensor needs to demarcate when vehicle general assembly, therefore, there is the problem of waste gross vehicle ETL estimated time of loading.
For solving the above-mentioned problems in the prior art, the technical scheme that the embodiment of the present invention adopts is meshed by the mid-way of just gear shaft with the distribution length of tooth on described tooth bar, described mid-way can be orientated as the zero degree position (zero-bit) of rotation angular sensing device, and without the need to again each rotation angular sensing device being carried out one by one the demarcation of zero degree position in gross vehicle process of assembling, thus the time of vehicle general assembly can effectively be saved, it is to increase the production efficiency of vehicle.
For enabling above-mentioned purpose, the feature and advantage of the present invention more become apparent, below in conjunction with accompanying drawing, specific embodiments of the invention are described in detail.
Fig. 1 is the structural representation of a kind of rotation angular sensing device of the prior art; Fig. 2 is the structure for amplifying schematic diagram of the rotation angular sensing device shown in Fig. 1; Fig. 3 is the cross-sectional view of the rotation angular sensing device in the embodiment of the present invention; Fig. 4 is the amplification profile structural representation of the rotation angular sensing device shown in Fig. 3. Rotation angular sensing device as Figure 1-Figure 4, it is possible to comprising: housing 21 and tooth bar 22, gear shaft 23 and rack displacement acquisition device. Wherein:
Tooth bar 22 is fixedly mounted in housing 21, gear shaft 23 is meshed with tooth bar 22, and be arranged on the mid-way of the distribution length of tooth on tooth bar 22, and gear shaft 23 is also by turning to tubing string (not shown) to be connected with bearing circle (not shown).
Rack displacement acquisition device is fixedly mounted in housing 21, is suitable for measuring the displacement that described tooth bar produces along with described rotating of steering wheel.
In concrete enforcement, rack displacement acquisition device can comprise grating 24a and grating inductor block 24b. On the surface, and setting corresponding to the tooth on tooth bar 22, the length of grating is equal with the distribution length of tooth on described tooth bar 22 in the side that grating 24a is arranged on tooth bar 22. Grating inductor block 24b fixedly mounts on the inwall of housing 21, and is positioned at the surface of grating 24a.
The embodiment of the present invention additionally provides a kind of electronic power assist steering system, and described system comprises above-mentioned rotation angular sensing device.
Fig. 5 shows the schema of the acquisition methods of a kind of steering wheel angle in the embodiment of the present invention. Below in conjunction with Fig. 2, the principle of work of the rotation angular sensing device shown in Fig. 1-Fig. 4 is described in further detail. The acquisition methods of steering wheel angle as described in Figure 3, it is possible to comprising:
Step S51: adopt rack displacement acquisition device to obtain the displacement of tooth bar.
In concrete enforcement, it is possible to by rack displacement acquisition device, obtain the displacement of tooth bar 22.
As shown in Figure 2, gear shaft 23 is meshed with tooth bar 22, and being arranged on the mid-way of the distribution length of tooth on tooth bar 22, i.e. the zero degree position of described rotation angular sensing device, and gear shaft 23 is also by turning to tubing string (not shown) to be connected with bearing circle.
When rotating of steering wheel, by turning to tubing string driven gear axle 23 to rotate. Gear shaft 23 is meshed with the tooth on tooth bar 22, and therefore, the rotation of gear shaft 23 can make tooth bar 22 produce corresponding displacement.
Specifically, on the surface, grating 24a is corresponding with the distribution of tooth on tooth bar 22, and equal with the distribution length of tooth on tooth bar in the side being arranged on tooth bar 22 due to grating 24a. When tooth bar 22 moves, grating 24a can produce the displacement identical with tooth bar 22. Therefore, just can obtaining the displacement of grating 24a by being arranged on the grating inductor block 24b directly over grating 24a, the displacement of grating 24a is also exactly the displacement of tooth bar 22.
Owing to grating 24a and grating inductor block 24b has precision height, the reliable advantage of signal, the displacement that tooth bar 22 produces can reliably, accurately be obtained with rotating of steering wheel, such that it is able to improve the accuracy and reliability of the steering wheel angle calculated by rack displacement by the rack displacement acquisition device being made up of grid 24a and grating inductor block 24b.
Step S52: according to the displacement of the tooth bar that described rack displacement acquisition device obtains, calculate described steering wheel angle.
In concrete enforcement, it is possible to adopt steering wheel angle described in following formulae discovery:
c1=360*a/b (1);
Wherein, c1For described steering wheel angle, a is the displacement of tooth bar 22, and b is line angle transmitting ratio.
Described line angle transmitting ratio is the displacement amount that gear shaft 23 rotates circle hour rack 22 generation.
In concrete enforcement, in order to obtain the angular signal of bearing circle further, the acquisition methods of steering wheel angle as shown in Figure 3, it is also possible to comprising accurately:
Step S53: the described steering wheel angle calculated and the steering wheel angle calculated according to motor position are compared.
In concrete enforcement, it is possible to adopt following formulae discovery to obtain steering wheel angle:
c2=θ/r (2);
Wherein, c2For steering wheel angle, θ is the rotation angle of the motor that motor position sensor records, and r is worm gear transmission ratio.
Step S54: judge whether the difference between two steering wheel angles is less than default threshold value.
It is separately calculate two steering wheel angles due to formula (1) and (2), therefore, two steering wheel angles obtained may be consistent or inconsistent, now, obtain two steering wheel angles can be compared, and can according to the result compared, it is determined that final steering wheel angle.
When judged result is yes, it is possible to perform step S55; When judged result is no, it is possible to perform step S56～S58.
Step S55: by the steering wheel angle calculated or the steering wheel angle calculated according to motor position, as final steering wheel angle.
In concrete enforcement, when the difference drawn between obtain two steering wheel angles by comparing is less than default threshold value, difference between two steering wheel angles is in allowed limits, illustrate that two steering wheel angles all can be reliable, can be chosen one of them as final steering wheel angle, namely can by the steering wheel angle calculated or the steering wheel angle calculated according to motor position, as final steering wheel angle.
Step S56: judge that whether two steering wheel angle signals are all effective.
In concrete enforcement, when the steering wheel angle calculated and the steering wheel angle calculated according to motor position difference between the two are greater than default threshold value, then it can be shown that in two steering wheel angles at least one be insecure. Now, it can be determined that whether two the steering wheel angle signals obtained are reliable, to determine final steering wheel angle.
In concrete enforcement, it is possible to the validity signal of the steering wheel angle calculated described in acquisition, when the validity signal obtained is effective, it can be determined that described in the steering wheel angle signal that calculates reliable. Otherwise, when the validity signal obtained is invalid, it can be determined that described in the steering wheel angle signal that calculates unreliable.
With reason, it is possible to by obtaining the validity signal of the described steering wheel angle calculated according to motor position, when the validity signal obtained is effective, it can be determined that the described steering wheel angle signal calculated according to motor position is reliable. Otherwise, then can judge that the described steering wheel angle signal calculated according to motor position is unreliable.
In concrete enforcement, when judged result is no, it is possible to perform step S57; When judged result is for being, it is possible to perform step S58.
Step S57: when the steering wheel angle calculated or the steering wheel angle that calculates according to motor position are effective, using effective steering wheel angle as final steering wheel angle.
In concrete enforcement, whether reliable by judging two the steering wheel angle signals that just can determine to obtain, and will be judged as that effective steering wheel angle is as final steering wheel angle.
Step S58: issue fault warning information.
In concrete enforcement, when judging that two steering wheel angle signals are all effectively, now, it is possible to illustrate that fault has occurred, it is possible to by issuing the mode of fault warning information, to notify the personnel being correlated with, take corresponding measure.
The all or part of step that one of ordinary skill in the art will appreciate that in the various methods of above-described embodiment can be completed by the hardware that program carrys out instruction relevant, this program can be stored in computer-readable recording medium, and storage media can comprise: ROM, RAM, disk or CD etc.
Method and system to the embodiment of the present invention has done detailed introduction above, and the present invention is not limited to this. Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (8)
1. a rotation angular sensing device, it is characterised in that, comprising: housing and tooth bar, gear shaft and rack displacement acquisition device;
Described tooth bar is fixedly mounted in described housing, and gear shaft is meshed with described tooth bar, and is arranged on the mid-way of the distribution length of tooth on described tooth bar, and gear shaft is also by turning to tubing string to be connected with described bearing circle;
Described rack displacement acquisition device is fixedly mounted in described housing, is suitable for measuring the displacement that described tooth bar produces along with described rotating of steering wheel.
2. rotation angular sensing device according to claim 1, it is characterised in that, described rack displacement acquisition device comprises grating and grating inductor block;
Described grating is arranged on described rack bar side on the surface, and setting corresponding to the tooth on described tooth bar;
Described grating inductor block is installed in described inner walls, and is positioned at the surface of described grating.
3. rotation angular sensing device according to claim 2, it is characterised in that, the length of described grating is equal with the distribution length of tooth on described tooth bar.
4. an electronic power assist steering system, it is characterised in that, comprise the square rotation angular sensing device described in the arbitrary item of claim 1-3.
5. the acquisition methods of a steering wheel angle, it is characterised in that, comprising:
Rack displacement acquisition device is adopted to obtain the displacement of tooth bar;
Displacement according to the tooth bar that described rack displacement acquisition device obtains, calculates described steering wheel angle.
6. the acquisition methods of steering wheel angle according to claim 5, it is characterised in that, adopt steering wheel angle described in following formulae discovery:
c1=360*a/b;
Wherein, c1For described steering wheel angle, a is the displacement of described tooth bar, and b is line angle transmitting ratio.
7. the acquisition methods of steering wheel angle according to claim 5 or 6, it is characterised in that, also comprise: the described steering wheel angle calculated and the steering wheel angle calculated according to motor position are compared;
When difference between the steering wheel angle calculated and the steering wheel angle calculated according to motor position is less than default threshold value, using the steering wheel angle calculated or the steering wheel angle that calculates according to motor position as final steering wheel angle;
When difference between the steering wheel angle calculated and the steering wheel angle calculated according to motor position is greater than or equal to default threshold value, whether the steering wheel angle judging to calculate respectively is effective with the steering wheel angle obtained according to motor position calculating;
When the steering wheel angle calculated or the steering wheel angle that calculates according to motor position are effective, using effective steering wheel angle as final steering wheel angle;
When judge the steering wheel angle that calculates and calculate according to motor position the steering wheel angle that obtains all effectively time, issue fault warning information.
8. the acquisition methods of steering wheel angle according to claim 7, it is characterised in that, described calculate steering wheel angle according to motor position, comprising:
c2=θ/r;
Wherein, c2For steering wheel angle, θ is the rotation angle of the motor that motor position sensor records, and r is worm gear transmission ratio.
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| CN201410668445.7A CN105667572B (en) | 2014-11-20 | 2014-11-20 | The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle |
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| CN201410668445.7A CN105667572B (en) | 2014-11-20 | 2014-11-20 | The acquisition methods of rotary angle transmitter and electric boosting steering system, steering wheel angle |
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| CN105667572B CN105667572B (en) | 2018-08-21 |
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| CN106839970A (en) * | 2017-02-23 | 2017-06-13 | 吉林大学 | A kind of steering wheel angle measurement apparatus and method for driving data acquisition system |
| CN108082284A (en) * | 2016-11-22 | 2018-05-29 | 福特全球技术公司 | Synchronous Vehicular turn |
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| CN110497961A (en) * | 2019-08-26 | 2019-11-26 | 北京汽车股份有限公司 | The interposition of diverter puts back into positive system and method |
| CN112026912A (en) * | 2020-09-09 | 2020-12-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN112918557A (en) * | 2019-12-06 | 2021-06-08 | 北京新能源汽车股份有限公司 | Control method, controller, system and vehicle for steering wheel aligning reminding |
| CN114013499A (en) * | 2021-10-29 | 2022-02-08 | 北京汽车研究总院有限公司 | Transverse control system and method for unmanned formula racing car and vehicle |
| CN114655417A (en) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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| CN112026912A (en) * | 2020-09-09 | 2020-12-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN112026912B (en) * | 2020-09-09 | 2022-03-04 | 东风汽车有限公司 | Automatic driving steering angle detection method and electronic equipment |
| CN114013499A (en) * | 2021-10-29 | 2022-02-08 | 北京汽车研究总院有限公司 | Transverse control system and method for unmanned formula racing car and vehicle |
| CN114655417A (en) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | Steering engine real rudder angle redundancy judgment device, steering engine and wave glider |
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