CN107310623B - A kind of the dual-motor electric servo steering system and power-assisted steering method of parallel-connection structure - Google Patents
A kind of the dual-motor electric servo steering system and power-assisted steering method of parallel-connection structure Download PDFInfo
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- CN107310623B CN107310623B CN201710527962.6A CN201710527962A CN107310623B CN 107310623 B CN107310623 B CN 107310623B CN 201710527962 A CN201710527962 A CN 201710527962A CN 107310623 B CN107310623 B CN 107310623B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A kind of the dual-motor electric servo steering system and power-assisted steering method of parallel-connection structure, including steering wheel angle and position sensor；Steering wheel angle and position sensor and steering-wheel torque sensor are set to below steering wheel；Steering wheel and wheel are connected with diverter, and diverter is connected with the dual motors system of parallel-connection structure；Steering wheel angle and position sensor, steering-wheel torque sensor, vehicle speed sensor and parallel-connection structure dual motors system be connected with ECU.The present invention changes the control electric current of dual motors system motor by ECU, to neatly change assist characteristic curve, the contradiction of steering " light " and " spirit " is coordinated well, make to operate more stable, and it can be realized four kinds of bi-motor torque coupling power-assisted steering mode, main motor power-assisted steering mode, damping control mode and rotary transform tensor mode operating modes, while guaranteeing ease of steering, the comfortableness and security of driving are improved.
Description
Technical field
The present invention relates to power-assisted steering technical field, in particular to the dual-motor electric power-assisted steering system of a kind of parallel-connection structure
System and power-assisted steering method.
Background technique
Commercial vehicle is all using hydraulic power-assisted steering at present, although the power-assisted steering for realizing commercial vehicle exists very
More disadvantages: oil pump is continued working by engine driving, and energy consumption is more；Hydraulic fluid leak, rubber tube pollute environment；Power-assisted is special
Property it is related with control valve arrangement, once being formed, assist characteristic just cannot change system；Power-assisted and speed are unrelated, cannot coordinate to turn
To portability and the contradiction of road feel etc..Existing electric boosting steering system safety, high reliablity, steering characteristic curve are relatively managed
Think.Simultaneously as being not required to engine using direct current generator and providing high pressure oil, vehicle fuel economy is good.But by installation dimension
Etc. limitation, electric power steering output torque is smaller, be unable to satisfy the requirement of commerial vehicle power steering, at present apply
Field is still limited to passenger car or light commercial vehicle.For arranging that the space of assist motor extremely has in the steering system of commercial vehicle
Limit has the bi-motor conception structure excessively complexity of proposition at present and occupied space is big.
Power-assisted steering on conventional commercial vehicle mostly uses hydraulic power-assist steering system, but hydraulic power-assisted steering is deposited in use
In very big defect, after selected parameter complete design, assist characteristic is determined that, cannot be adjusted and be controlled again, because
This coordinates portability and the relationship of road feel is very difficult, to influence control stability；Simultaneously when not turning to, oil pump is also always
Operating, increases energy consumption；There are permeabilitys and maintenance issues, improve warranty costs, and the hydraulic oil of leakage can make environment
At pollution.
Summary of the invention
The purpose of the present invention is to provide a kind of dual-motor electric servo steering system of parallel-connection structure and power-assisted steering sides
The functional reliability of method, system is high, and the service life of whole system is long, while the service life of whole system also greatly prolongs.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of dual-motor electric servo steering system of parallel-connection structure, including steering wheel, steering wheel angle and position sensing
Device, steering-wheel torque sensor, diverter, the dual motors system of parallel-connection structure, vehicle speed sensor and electronic control unit；It turns to
Disk corner and position sensor and steering-wheel torque sensor are set to below steering wheel；Steering wheel and wheel and diverter phase
Even, diverter is connected with the dual motors system of parallel-connection structure；Steering wheel angle and position sensor, steering-wheel torque sensor,
Vehicle speed sensor and the dual motors system of parallel-connection structure are connected with electronic control unit.
A further improvement of the present invention lies in that the dual motors system of parallel-connection structure includes main assist motor, auxiliary power-assisted electricity
Machine and free-wheeling assembly, main assist motor and auxiliary assist motor are connected by free-wheeling assembly, one-way clutch
The output shaft of assembly is connected with diverter.
A further improvement of the present invention lies in that main assist motor use hollow motor, assist the output shaft of assist motor from
The hollow axis center of main assist motor passes through, and is realized and main power-assisted electricity in the inside of main assist motor by free-wheeling assembly
It the rotor of machine and assists the combination of output shaft of assist motor perhaps disconnection to reach single motor provides power-assisted or bi-motor
Power-assisted required for turning to is provided by torque coupling.
A further improvement of the present invention lies in that main assist motor includes main assist motor rotor, main assist motor rotor warp
Power output end imparts power to diverter；
Assisting assist motor includes auxiliary assist motor rotor, assists the power of assist motor by auxiliary assist motor rotor
It is transferred to free-wheeling assembly, torque coupling is then carried out by one-way clutch and main power-assisted single machine rotor, finally by
Power output end imparts power to diverter.
A further improvement of the present invention lies in that auxiliary assist motor rotor is supported by support device.
A further improvement of the present invention lies in that wheel is connected by track rod with pitman arm, pitman arm and turn
It is connected to device.
A further improvement of the present invention lies in that diverter is connected by diverter deceleration mechanism with dual motors system.
A kind of forward method of the dual-motor electric servo steering system of parallel-connection structure, when ECU detects steering-wheel torque
When greater than 5~6Nm, then bi-motor torque coupling power-assisted steering mode is used, one-way clutch engages at this time, auxiliary power-assisted electricity
The engagement of the rotor of the output shaft of machine and main assist motor carries out power output by the output shaft of main assist motor, carries out at this time
It is torque coupling, dual motors system can export sufficiently large torque for the steering system of commercial vehicle in this operating mode
It uses；
When ECU detects that steering-wheel torque lower than 5~6Nm, then uses main motor power-assisted steering mode, at this time unidirectionally from
Clutch is in an off state, and only main assist motor carries out the output of torque, and auxiliary assist motor is in off working state, double electricity
Total output torque of machine system reduces；
When ECU detects driver without turning to, then damping control mode is used, is begun at this time using main assist motor
Eventually in unidirectional diverter engagement state, when by main assist motor shorted on both ends, the torque and master that main assist motor generates are helped
The rotary speed direction of force motor is opposite；
When ECU detects that steering wheel angle reaches maximum, it is detected simultaneously by steering wheel tach signal and changes by 0,
Rotary transform tensor mode is then used, main assist motor output torque assists driver just operate to diverter at this time.
Compared with prior art, the invention has the benefit that the bi-motor system that the present invention passes through setting parallel-connection structure
System and ECU, dual-motor electric servo steering system can change the control electric current of dual motors system motor by ECU, thus clever
Change assist characteristic curve livingly, has coordinated the contradiction for turning to " light " and " spirit " well, made to operate more stable, be also convenient for simultaneously
The realization of multiple-working mode solves the insufficient problem of hydraulic power-assist steering system.
Further, compared to traditional hydraulic power-assist steering system, the present invention is in structure, in main assist motor use
Empty form, assists the output shaft of assist motor to be arranged in the inside of main assist motor, cloth is greatly saved in structure and empties
Between, to arrange that other assemblies provide more spaces.It is very compact in the structure of bi-motor of the invention, occupied steering system
Space it is very few, leave more spaces for the arrangement of other component of steering system.Dual motors system of the invention simultaneously
Assembly components are few, and the functional reliability of system is high.
Commercial vehicle due to needing larger torque when turning to when turning to or run at a low speed in situ from the factors such as great,
One-way clutch engages under bi-motor torque coupling power-assisted steering mode of the invention, assists output shaft and the master of assist motor
The rotor of assist motor engages, and then carries out power output by the output shaft of main assist motor, and what is carried out at this time is torque coupling,
In this operating mode dual motors system can export sufficiently large torque for commercial vehicle steering system use, compared to
Dual motors system in traditional single motor servo steering system present invention can export bigger torque, and as the parameter of electric machine selects
The difference selected, the output torque also have large range of variation, so as to adapt to the need of the steering system of different commercial vehicles
It asks.When the speed of commercial vehicle reaches a certain level, the ease of steering of steering system can improve therewith, at this time steering system institute
The power steering needed is reduced.Under main motor power-assisted steering mode, one-way clutch is in an off state.Only master helps at this time
Force motor carries out the output of torque, and auxiliary assist motor is in off working state, and total output torque of dual motors system reduces,
It is solving the problems, such as to turn to " gently with spirit " simultaneously, is increasing " road feel " of driver at this time, improve the enjoyment and driving safety of driving
Property.Simultaneously because only main assist motor work, auxiliary assist motor is in off working state, so that the power consumption of dual motors system
Amount substantially reduces.Guaranteeing also reduce whole system energy consumption while the power-assisted of steering system needs is provided, is guaranteeing to turn to light
Just the oil consumption performance of vehicle can be also improved while property.Main assist motor is in dual motors system always at work in the present invention
With unidirectional diverter engagement state.When by main assist motor shorted on both ends, torque and main assist motor that main assist motor generates
Rotary speed direction it is opposite, that is to say, that the torque of main assist motor plays braking action to the rotation of main assist motor.Meanwhile motor
The size of braking moment and main assist motor revolving speed are directly proportional, and main assist motor rotation is faster, and braking action is stronger.According to this
Principle, when automobile high-speed straight-line travelling, main two terminal shortcircuit of assist motor is utilized the system of main assist motor by electronic control unit
Movement improves the feel of driver to mitigate shake of the steering wheel near middle position with the damping for improving steering system.It improves
Drive safety when running at high speed.Timing is carried out back, by main assist motor output torque to diverter, assists driver
Just operate, mitigates the driving fatigue etc. of driver.The present invention can use bi-motor torque coupling when realizing steering
Four kinds of power-assisted steering mode, main motor power-assisted steering mode, damping control mode and rotary transform tensor mode operating modes enrich
The control strategy of dual-motor electric power-assisted steering while guaranteeing ease of steering improves the comfort and peace of driving
Quan Xing.
Detailed description of the invention
Fig. 1 is dual-motor electric servo steering system schematic diagram.
Fig. 2 is dual motors system schematic diagram.
In figure, 1 is steering wheel, and 2 be steering wheel angle and position sensor, and 3 be steering-wheel torque sensor, and 4 be steering
Device, 5 be diverter deceleration mechanism, and 6 be pitman arm, and 7 be track rod, and 8 be wheel, and 9 be auxiliary assist motor, supplemented by 10
Assist motor stator is helped, 11 be main assist motor, and 12 be main assist motor stator, and 13 be free-wheeling assembly, and 14 be support
Device, 15 be main power-assisted single machine rotor, and 16 be power output end, and 17 be auxiliary assist motor rotor, and 18 be electronic control unit,
19 be dual motors system.
Specific embodiment
The following further describes the present invention with reference to the drawings.
Referring to Fig. 1, dual-motor electric servo steering system of the invention, including steering wheel 1, steering wheel angle and position are passed
Sensor 2, steering-wheel torque sensor 3, diverter 4, diverter deceleration mechanism 5, pitman arm 6, track rod 7, bi-motor
System 19, vehicle speed sensor and electronic control unit (ECU) 18.Vehicle speed sensor is arranged on vehicle body；Steering wheel angle and position
It sets sensor 2 and is set to 1 lower section of steering wheel, for acquiring position and the angular signal of steering wheel 1, steering-wheel torque sensing in real time
Device 3 is arranged below steering wheel 1, for acquiring the torque of steering wheel 1 in real time；Steering wheel 1 is also connected with diverter 4.
Two wheels 8 are connected by track rod 7 with pitman arm 6, and pitman arm 6 is connected with diverter 4, diverter
4 are connected by diverter deceleration mechanism 5 with dual motors system 19.
Driver can rotate steering wheel 1 according to information such as road conditions in real time, and then drive diverter 4 to move, then by turning
To after 5 deceleration torque increase of device deceleration mechanism, dual motors system 19 is imparted power to, power is passed through steering again by dual motors system 19
Device 4 is transferred to pitman arm 6 and track rod 7, and band motor car wheel 8 carries out after pitman arm 6 and track rod 7 are moved
The work turned to is then completed in rotation.
Referring to fig. 2, dual motors system 19 includes main assist motor 11, auxiliary assist motor 9 and free-wheeling assembly 13
(free-wheeling assembly 13 is an entirety, it is made of driving disc spacing pressing, holddown spring, one-way clutch and driven disc etc.,
Technology is more mature), main assist motor 11 and auxiliary assist motor 9 are connected by free-wheeling assembly 13, one-way clutch
The output shaft of assembly 13 is connected with diverter 4.
Main assist motor 11 uses hollow motor, assists hollow shaft of the output shaft of assist motor 9 from main assist motor 11
Center passes through, the inside of main assist motor 11 by free-wheeling assembly 13 realize with the rotor of main assist motor 11 with it is auxiliary
Helping the combination of the output shaft of assist motor 9, perhaps disconnection to reach single motor and provide power-assisted or bi-motor passes through torque coupling
It closes to provide and turns to required power-assisted.
Main assist motor 11 includes main assist motor stator 12 and main assist motor rotor 15, main assist motor rotor 15
Diverter 4 is imparted power to through power output end 16.
Assisting assist motor 9 includes auxiliary assist motor stator 10 and auxiliary assist motor rotor 17, wherein assisting power-assisted
Rotor 17 is supported by support device 14, and the power of auxiliary assist motor 9 is transferred to by auxiliary assist motor rotor 17
Then free-wheeling assembly 13 carries out torque coupling by one-way clutch and main power-assisted single machine rotor 15, finally by dynamic
Power output end 16 imparts power to diverter 4.
Steering wheel angle and position sensor 2, steering-wheel torque sensor 3, vehicle speed sensor and dual motors system are equal
It is connected with electronic control unit 18.In the present invention electronic control unit 18 acquire signal have speed, main assist motor 11 with it is auxiliary
Help the voltage of assist motor 9, the electric current of main assist motor 11 and auxiliary assist motor 9；After electronic control unit 18 acquires signal
Control signal is issued to dual motors system, to control the operating mode of dual motors system.
The selection of bi-motor power-assisted of the present invention position, power-assisted position refer to that the power torque of assist motor output is applied to and turn
Specific location into system.The selection of power-assisted position has significant impact to the performance of electric boosting steering system.Power-assisted position
The selection (being existing technology) set will consider the requirement to design of electrical motor of automobile front axle payload, power-assisted position, mechanical system
The complexity for design of uniting, motor torque fluctuate the factors such as the convenience of influence to driver, installation, and are integrated
Tradeoff.At present according to the difference of power-assisted position, Pinion-and-rack steering system system can be divided into three basic structures form: steering column
Booster type, gear booster type, three kinds of rack gear booster type.According to circular ball type electric servo steering system, theoretically analyze,
It is also the same to can choose there are three types of power-assisted position: steering column booster type, screw rod booster type and rocker arm shaft booster type.It is general to use
Steering column booster type.The present invention also will only discuss that dual motors system is mounted on the power-assisted mode for turning to and being responsible for.
Dual-motor electric power-assisted steering method, that is, dual-motor electric servo steering system tool of parallel-connection structure in the present invention
The operating mode of body is determined that is, specific operating mode is electronic control unit 18 according to steering wheel by electronic control unit 18
The dtc signal of the collected steering wheel of torque sensor 3, rotary angle transmitter signal, speed, dual motors system electric current and electricity
The factors such as pressure determine.
The present invention provide four kinds of operating modes: bi-motor torque coupling power-assisted steering mode, main motor power-assisted steering mode,
Damping control mode and rotary transform tensor mode.
Bi-motor torque coupling power-assisted steering mode is when needing larger torque when turning to, and one kind provided by the invention helps
Power steering pattern.Commercial vehicle is due to needing larger turn from the factors such as great when turning to when turning to or run at a low speed in situ
Square, one-way clutch engages under bi-motor torque coupling power-assisted steering mode, the output shaft of auxiliary assist motor 9 and main power-assisted
The rotor of motor 11 engages, and then carries out power output by the output shaft of main assist motor 11, and what is carried out at this time is torque coupling,
Dual motors system can export sufficiently large torque so that the steering system of commercial vehicle uses in this operating mode, work as ECU
When detecting that steering-wheel torque is greater than 5~6Nm, then this mode is selected.Compared to traditional single motor servo steering system
Dual motors system in the present invention can export bigger torque, and with the difference that the parameter of electric machine selects, which also can
There is large range of variation, so as to adapt to the demand of the steering system of different commercial vehicles.
Main motor power-assisted steering mode refers to, when the speed of commercial vehicle reaches a certain level, the steering of steering system is light
Just performance improves therewith, and power steering required for steering system is reduced at this time.Under main motor power-assisted steering mode, electronics control
18 synthetical collection of unit processed to speed and steering-wheel torque signal etc. be simultaneously emitted by control signal when one-way clutch be in disconnected
Open state.The output for only having main assist motor 11 to carry out torque at this time, auxiliary assist motor 9 are in off working state, bi-motor
The total output torque of system reduces, and is solving the problems, such as to turn to " gently with spirit " simultaneously, " road feel " of increase driver at this time mentions
The enjoyment and drive safety that height drives.Simultaneously because only main assist motor 11 works, auxiliary assist motor 9 is in inoperative
State, so that the power consumption of dual motors system substantially reduces.Guaranteeing also drop while the power-assisted of steering system needs is provided
Low whole system energy consumption guarantees the oil consumption performance that vehicle can be also improved while ease of steering.When ECU detects that steering wheel turns
Square is lower than 5~6Nm, then uses this operating mode.
Damping control mode refers to when automobile high-speed straight-line travelling, if there is the interference of high frequency on road surface, steering wheel will
It is shaken near middle position, so that driver is felt nervous, while feel is deteriorated.Steering wheel is in middle position when to improve galloping
Performance when nearby considers to apply certain damping to steering system using assist motor under such conditions, to reduce steering wheel
Shake, so as to improve the feel of driver.In the present invention dual motors system at work main assist motor 11 always in
Unidirectional diverter engagement state.When by main 11 shorted on both ends of assist motor, torque and main power-assisted electricity that main assist motor 11 generates
The rotary speed direction of machine 11 is opposite, that is to say, that the torque of main assist motor 11 plays braking action to the rotation of main assist motor 11.
Because main assist motor 11 and steering wheel 1 are linked together by diverter deceleration mechanism 5, so the torque of main assist motor 11
Braking action is also played to the rotation of steering wheel 1, the damping equivalent to increase steering system.Meanwhile motor braking torque is big
Small and main 11 revolving speed of assist motor is directly proportional, that is to say, that the main rotation of assist motor 11 is faster, and braking action is stronger.According to this
One principle, when automobile high-speed straight-line travelling, 11 liang of terminal shortcircuits of main assist motor are utilized main power-assisted electricity by electronic control unit 18
The damping that the braking action of machine 11 improves steering system improves driver's to mitigate shake of the steering wheel near middle position
Feel, drive safety when running at high speed.When ECU detects driver without turning to, then this work is used
Mode.
Rotary transform tensor mode refers to that driver turns to and completes to need to carry out back steering wheel just operating, and carries out rotary transform tensor
When, steering wheel angle and position sensor 2 are installed in system additional, for detecting the position of steering wheel 1.But electronic control unit 18 is examined
Survey carries out back timing, it will and it issues and instructs to dual motors system, it at this moment can be by main 11 output torque of assist motor to steering
Device 4, auxiliary driver just operate, and mitigate the driving fatigue etc. of driver.When ECU detects that steering wheel angle reaches most
It when big, that is, turn to and completes, be detected simultaneously by steering wheel tach signal and change by 0, that is, return positive beginning, at this time then using this
Operating mode.
Turn as shown in Figure 1, ECU acquires vehicle speed information, steering wheel position information, steering wheel angle information, steering wheel in real time
The electric current and information of voltage of square information and dual motors system, and control signal is exported according to the good control model of preset in advance,
And then determine the operating mode of dual motors system.Dual motors system at work, assists assist motor stator 10 and main power-assisted electricity
Machine stator 12 remains stationary, and the power of auxiliary assist motor 9 is transferred to one-way clutch by auxiliary assist motor rotor 17, wherein
Auxiliary assist motor rotor is supported by support device 14, is then carried out by one-way clutch and main power-assisted single machine rotor 15
Torque coupling imparts power to diverter 4 finally by power output end 16 and diverter deceleration mechanism 5.Driver can be with
Steering wheel is rotated according to information such as road conditions in real time, and then drives diverter movement, then pass through 5 deceleration torque increase of diverter deceleration mechanism
Afterwards, power is transferred to pitman arm 6 and track rod 7, band motor-car after pitman arm 6 and track rod 7 are moved
Wheel 8 is rotated, and the work turned to is then completed.
As shown in Fig. 2, the control signal that dual motors system is issued according to ECU, to decide whether that one-way clutch connects
It closes.One-way clutch engagement if necessary, dual motors system enter bi-motor power-assisted steering mode.ECU can also be controlled simultaneously
The electric current and voltage of dual motors system processed achieve the purpose that adjust output torque.If you do not need to then dual motors system enters master
Assist motor assistant mode.ECU is according to collected various signals simultaneously, to decide whether as damping control mode and return positive control
Molding formula, and then control signal is issued to dual motors system to achieve the purpose that carry out to assist power-assisted.
Claims (7)
1. a kind of dual-motor electric servo steering system of parallel-connection structure, which is characterized in that turn including steering wheel (1), steering wheel
Dual motors system (19), the speed of angle and position sensor (2), steering-wheel torque sensor (3), diverter (4), parallel-connection structure
Sensor and electronic control unit (18)；Steering wheel angle and position sensor (2) and steering-wheel torque sensor (3) are set to
Below steering wheel (1)；Steering wheel (1) and wheel (8) are connected with diverter (4), the bi-motor system of diverter (4) and parallel-connection structure
System (19) is connected；Steering wheel angle and position sensor (2), steering-wheel torque sensor (3), vehicle speed sensor and and it is coupled
The dual motors system (19) of structure is connected with electronic control unit (18):
Main assist motor (11) uses hollow motor, assists the output shaft of assist motor (9) from the hollow of main assist motor (11)
Axis center passes through, and is realized and main assist motor (11) in the inside of main assist motor (11) by free-wheeling assembly (13)
It rotor and assists the combination of output shaft of assist motor (9) perhaps disconnection to reach single motor provides power-assisted or bi-motor
Power-assisted required for turning to is provided by torque coupling.
2. a kind of dual-motor electric servo steering system of parallel-connection structure according to claim 1, which is characterized in that in parallel
The dual motors system (19) of structure includes main assist motor (11), auxiliary assist motor (9) and free-wheeling assembly (13), master
Assist motor (11) and auxiliary assist motor (9) are connected by free-wheeling assembly (13), free-wheeling assembly (13)
Output shaft is connected with diverter (4).
3. a kind of dual-motor electric servo steering system of parallel-connection structure according to claim 2, which is characterized in that master helps
Force motor (11) includes main assist motor rotor (15), and main assist motor rotor (15) transmits power through power output end (16)
Give diverter (4)；
Assisting assist motor (9) includes auxiliary assist motor rotor (17), assists the power of assist motor (9) by auxiliary power-assisted electricity
Machine rotor (17) is transferred to free-wheeling assembly (13), is then carried out by one-way clutch and main power-assisted single machine rotor (15)
Torque coupling imparts power to diverter (4) finally by power output end (16).
4. a kind of dual-motor electric servo steering system of parallel-connection structure according to claim 3, which is characterized in that auxiliary
Assist motor rotor (17) is supported by support device (14).
5. a kind of dual-motor electric servo steering system of parallel-connection structure according to claim 1, which is characterized in that wheel
(8) it is connected by track rod (7) with pitman arm (6), pitman arm (6) is connected with diverter (4).
6. a kind of dual-motor electric servo steering system of parallel-connection structure according to claim 1, which is characterized in that turn to
Device (4) is connected by diverter deceleration mechanism (5) with dual motors system (19).
7. a kind of forward method of the dual-motor electric servo steering system based on parallel-connection structure described in claim 1, special
Sign is,
When ECU detects that steering-wheel torque is greater than 5~6Nm, then bi-motor torque coupling power-assisted steering mode is used, at this time
One-way clutch engagement assists the rotor engagement of the output shaft and main assist motor (11) of assist motor (9), by main assist motor
(11) output shaft carries out power output, and what is carried out at this time is torque coupling, in this operating mode dual motors system (19)
Sufficiently large torque can be exported so that the steering system of commercial vehicle uses；
When ECU detects that steering-wheel torque lower than 5~6Nm, then uses main motor power-assisted steering mode, at this time one-way clutch
It being in an off state, only main assist motor (11) carries out the output of torque, and auxiliary assist motor (9) is in off working state,
Total output torque of dual motors system (19) reduces；
When ECU detects driver without turning to, then damping control mode is used, is begun at this time using main assist motor (11)
It is in eventually and unidirectional diverter engagement state, when by main assist motor (11) shorted on both ends, turn of main assist motor (11) generation
The rotary speed direction of square and main assist motor (11) is opposite；
When ECU detects that steering wheel angle reaches maximum, it is detected simultaneously by steering wheel (1) tach signal and changes by 0, then
Using rotary transform tensor mode, main assist motor (11) output torque is given diverter (4) at this time, and auxiliary driver carries out Hui Zhengcao
Make.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710527962.6A CN107310623B (en) | 2017-06-30 | 2017-06-30 | A kind of the dual-motor electric servo steering system and power-assisted steering method of parallel-connection structure |
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| CN201710527962.6A CN107310623B (en) | 2017-06-30 | 2017-06-30 | A kind of the dual-motor electric servo steering system and power-assisted steering method of parallel-connection structure |
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| CN107310623B true CN107310623B (en) | 2019-02-22 |
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| CN109204450B (en) * | 2018-09-11 | 2021-04-20 | 长安大学 | Dual-motor electric power steering system and steering method based on electromagnetic clutch |
| CN109353403A (en) * | 2018-12-06 | 2019-02-19 | 核心驱动科技（金华）有限公司 | Car steering linkage mechanism and automobile steering system |
| CN109911006B (en) * | 2019-03-22 | 2021-02-26 | 长安大学 | Dual-motor electric power steering system based on synchronizer and method thereof |
| CN112238892B (en) * | 2019-07-19 | 2021-12-10 | 郑州宇通客车股份有限公司 | Steering system based on EPS and EHPS and control method thereof |
| CN111267951B (en) * | 2020-03-16 | 2024-01-19 | 吉林大学 | Electrohydraulic coupling type all-wheel steering system |
| CN113335371B (en) | 2021-06-30 | 2022-04-08 | 南京航空航天大学 | Multifunctional electric circulating ball steering system of commercial vehicle and control method thereof |
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| JP2003146229A (en) * | 2001-11-12 | 2003-05-21 | Koyo Seiko Co Ltd | Vehicular steering device |
| DE102004050014B4 (en) * | 2003-10-16 | 2016-01-28 | Nissan Motor Co., Ltd. | electronic steering system |
| CN101229819A (en) * | 2008-02-28 | 2008-07-30 | 吉林大学 | Wire-controlled steering system for automobiles |
| CN201347125Y (en) * | 2008-12-05 | 2009-11-18 | 北京理工大学 | Electric power steering mechanism having coupling control of force and displacement |
| CN104527774A (en) * | 2014-12-09 | 2015-04-22 | 长安大学 | Double-more electric power-assisted steering system and power-assisted steering method thereof |
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