CN107914768A - A kind of electric boosting steering system and its control method - Google Patents
A kind of electric boosting steering system and its control method Download PDFInfo
- Publication number
- CN107914768A CN107914768A CN201711025091.4A CN201711025091A CN107914768A CN 107914768 A CN107914768 A CN 107914768A CN 201711025091 A CN201711025091 A CN 201711025091A CN 107914768 A CN107914768 A CN 107914768A
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- Prior art keywords
- electric
- driving motor
- steering system
- varying device
- steering
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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
- B62D5/0424—Electric motor acting on or near steering gear the axes of motor and final driven element of steering gear, e.g. rack, being parallel
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of electric boosting steering system and its control method, belong to vehicular field.The electric boosting steering system includes manpower transmission system, for inputting and transmitting manpower moment of torsion；Electric direction varying device, has input shaft and output shaft, wherein, driving motor and torque angle sensor are integrated with the input shaft of the electric direction varying device, the output torque and the manpower moment of torsion collective effect of the driving motor are in the input shaft of the electric direction varying device；Controller, for controlling the driving motor according to the signal of the torque angle sensor and entire car controller；And wheel transmission, it is connected with the output shaft of the electric direction varying device, for transmitting the output torque of the electric direction varying device, to complete go to action.The electric boosting steering system of the present invention need not change instrument beam structure, versatility is good since driving motor, torque angle sensor are integrated at the input shaft of electric direction varying device.
Description
Technical field
The present invention relates to vehicular field, more particularly to a kind of electric boosting steering system and its control method.
Background technology
Circular ball type electric servo steering system has the advantages that energy-efficient, low speed is light, is led in dilly
Domain widely uses.
At present for the larger MPV of front axle axle load, pick up, large-scale SUV and commercial car field, in order to use circulation
Ball electric power-assisted steering system, is usually directly changed to ball-and-nut steering gear by rack and pinion steering gear.
But this structure type generally requires the part such as installation driving motor, sensor and stent at steering column,
The structure of change instrument beam is needed when therefore installing.
The content of the invention
It is an object of the present invention to provide a kind of electric boosting steering system so that it need not change when mounted
Instrument beam structure.
The present invention one is further objective is that will cause the output torque for driving motor to be capable of providing bigger.
Especially, the present invention provides a kind of electric boosting steering system, including：
Manpower transmission system, for inputting and transmitting manpower moment of torsion；
Electric direction varying device, has input shaft and output shaft, wherein, driving is integrated with the input shaft of the electric direction varying device
Motor and torque angle sensor, the output torque and the manpower moment of torsion collective effect of the driving motor are in the electric rotating
To the input shaft of device；
Controller, is connected with entire car controller and the torque angle sensor respectively, for according to the torque axis
The signal of angle transducer and the entire car controller controls the driving motor；With
Wheel transmission, is connected with the output shaft of the electric direction varying device, to receive the output of the electric direction varying device
Torque, and complete go to action.
Further, the electric direction varying device is electric circulation ball steering gear.
Further, the manpower transmission system includes：
Steering wheel, for inputting the manpower moment of torsion；
Steering column, is fixed on cab front panel, and its one end is connected with the steering wheel by spline；With
Jackshaft, its one end are connected with the other end of the steering column by Hooke's joint, the other end with it is described
The input shaft of electric circulation ball steering gear is connected by Hooke's joint.
Further, the jackshaft includes matched splined shaft and spline housing, so that the jackshaft is in its axis
It is scalable upwards.
Further, worm and gear slowing-down structure, the worm screw and institute are additionally provided with inside the electric circulation ball steering gear
The output shaft for stating driving motor is fixedly connected, and the worm gear is fixedly connected with the input shaft of the electric circulation ball steering gear.
Further, the controller is equipped with：A ports, are connected with the torque angle sensor, for gathering the people
Power moment of torsion；
B ports, are connected with the driving motor, for controlling the driving motor；
C-terminal mouth, is connected with vehicle power supply, to power for the controller；With
D ports, are connected with the entire car controller, for gathering whole vehicle information；
The controller controls the driving motor output torque according to the manpower moment of torsion and the whole vehicle information.
Further, the controller is waterproofing controller.
Further, the wheel transmission includes：
Pitman arm, its one end are connected with the output shaft of the electric circulation ball steering gear；
Steering linkage, its one end are connected with the other end of the pitman arm；
Revolver, is connected with the other end of the steering linkage and is driven by the steering linkage, to complete to turn to；
Drag link, its one end are connected with the revolver；With
Right wheel, is connected with the other end of the drag link and is driven by the drag link, to be synchronously completed with the revolver
Turn to.
Especially, present invention also offers a kind of control method, for above-mentioned electric boosting steering system, including following step
Suddenly：
The protection of the electric boosting steering system is determined according to the temperature characterisitic of the driving motor and the controller
Coefficient；
Maximum current value and the maximum that the electric boosting steering system can be born are calculated according to the protection factor
The duration of current value；
When the operating current of the electric boosting steering system reaches the maximum current value and continuous firing duration reaches
During the duration, into Thermal protection program, to control the operating current of the driving motor to be reduced to balanced balanced current value.
Further, the duration is 15 seconds, and the time for reaching the balanced balanced current value is 150 seconds.
The electric boosting steering system of the present invention by driving motor, torque angle sensor due to being integrated into electric direction varying device
Input shaft at, therefore instrument beam structure need not be changed, versatility is good.
Further, it is described driving motor not be connected with steering column but by turbine and worm decelerator with it is described
The input shaft of electric direction varying device is connected, therefore is no longer limited by the intensity of steering column, can provide the output torque of bigger to fit
The demand of big axle load Vehicular turn power is answered, application range is wider.
According to the accompanying drawings will be brighter to the detailed description of the specific embodiment of the invention, those skilled in the art
Above-mentioned and other purposes, the advantages and features of the present invention.
Brief description of the drawings
Some specific embodiments of detailed description of the present invention by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is the structure diagram of electric boosting steering system according to an embodiment of the invention；
Fig. 2 is the structure diagram of electric direction varying device according to an embodiment of the invention；
Fig. 3 is the sectional view of electric direction varying device electromechanical transducer part according to an embodiment of the invention；
Fig. 4 is the sectional view of electric direction varying device motor coupling portion according to an embodiment of the invention point；
Fig. 5 is the structure diagram of controller according to an embodiment of the invention；
Fig. 6 is the current control block diagram of electric boosting steering system according to an embodiment of the invention；
Fig. 7 is the flow chart of control method according to an embodiment of the invention；
Fig. 8 is driving motor working current according to an embodiment of the invention and the graph of a relation of time.
Embodiment
Fig. 1 is the structure diagram of electric boosting steering system according to an embodiment of the invention.Fig. 3 is according to this hair
The sectional view of the electric direction varying device electromechanical transducer part of bright one embodiment.As shown in Figure 1, the electric boosting steering system
It may include manpower transmission system 10, electric direction varying device 20, controller 30 and wheel transmission 40.The manpower transmission system 10
For inputting and transmitting manpower moment of torsion.The electric direction varying device 20 has input shaft 201 and output shaft 202, wherein, it is described electronic
Driving motor 21 and torque angle sensor 22 (referring to Fig. 3), the driving motor are integrated with the input shaft 201 of steering gear 20
21 output torque is with the manpower moment of torsion collective effect in the input shaft 201 of the electric direction varying device 20.The controller 30
Be connected respectively with entire car controller 60 and the torque angle sensor 22, for according to the torque angle sensor 22 with
And the signal control driving motor 21 of entire car controller 60.The wheel transmission 40 and the electric direction varying device 20
Output shaft 202 is connected, and to receive the output torque of the electric direction varying device 20, and completes go to action.
The electric boosting steering system of the present invention, electric powered steering is integrated into by driving motor 21, torque angle sensor 22
At the input shaft 201 of device 20, therefore instrument beam structure need not be changed, versatility is good；And this structure is arranged such that drive
The output torque of dynamic motor 21 can increase, so as to adapt to the demand of big axle load Vehicular turn power, application range is wider.
In another embodiment of the present invention, the electric direction varying device 20 is electric circulation ball steering gear.Such as Fig. 1 institutes
Show, in one embodiment, the manpower transmission system 10 includes steering wheel 11, steering column 12 and jackshaft 13.Described turn
It is used to input the manpower moment of torsion to disk 11.The steering column 12 is fixed on cab front panel, its one end and the steering
Disk 11 is connected by spline.One end of the jackshaft 13 and the other end of the steering column 12 pass through Hooke's joint phase
Even, the other end is connected with the input shaft 201 of the electric direction varying device 20 by Hooke's joint, and the jackshaft 13 includes phase
The splined shaft and spline housing of cooperation, so that the jackshaft 13 is scalable in its axial direction.
Fig. 4 is the sectional view of electric direction varying device motor coupling portion according to an embodiment of the invention point.As shown in figure 4,
In one embodiment of the invention, worm and gear slowing-down structure, the worm screw 203 are additionally provided with inside the electric direction varying device 20
It is fixedly connected with the output shaft 211 of the driving motor 21, the input shaft 201 of the worm gear 204 and the electric direction varying device 20
It is fixedly connected.The output torque of the driving motor 21 is transferred to the driving motor 21 by the worm and gear slowing-down structure
Output shaft 211, with the manpower moment of torsion collective effect in it is described driving motor 21 output shaft 211 at.
Fig. 2 is the structure diagram of electric direction varying device according to an embodiment of the invention.Fig. 5 is one according to the present invention
The structure diagram of the controller of embodiment.As shown in figure 5, in another embodiment, the controller 30 is equipped with A ports
31st, B ports 32, C-terminal mouth 33 and D ports 34.The controller 30 passes through the A ports 31 and the torque angle sensor 22
It is connected (referring to Fig. 2), for gathering the manpower moment of torsion.The controller 30 passes through the B ports 32 and the driving motor
21 are connected (referring to Fig. 2), for controlling the driving motor 21.The controller 30 passes through the C-terminal mouth 33 and vehicle power supply
50 are connected, to power for the controller 30.The D ports 34 of the controller 30 pass through CAN and the entire car controller
60 are connected, for gathering whole vehicle information.The controller 30 controls the drive according to the manpower moment of torsion and the whole vehicle information
The output torque of dynamic motor 21, the whole vehicle information include speed, engine condition signal etc., and the controller 30 passes through default
Control strategy data processing is carried out to the manpower moment of torsion and the whole vehicle information, to control the work of the driving motor 21
State.
During work, controller receives vehicle power supply 50 by C-terminal mouth 33 and powers on, and D ports 34 are used for receiving and exporting vehicle
Communication between electric boosting steering system, realizes real-time response, A ports 31 and the torque axis of electric direction varying device 20
Angle transducer 22 connects, and receives the live signal at the input shaft 201 from the electric direction varying device 20, grasps Vehicular turn
State, enters the controller 30 together with the whole vehicle information of the transmission of D ports 34, after calculation process, passes through A ports
31 outputs perform order, after the driving motor 21 being connected with A ports 31 obtains order, are acted accordingly, to realize power-assisted
Output.
Fig. 6 is the current control block diagram of electric boosting steering system according to an embodiment of the invention.As shown in fig. 6,
The target current value Icmd being calculated according to target current decision-making, i.e., according to the manpower moment of torsion, steering wheel angle, speed of input
And driving motor speed, return with reference to basic power-assisted, friciton compensation, inertia compensation, damping compensation and actively the factor such as just and calculate and obtain
Target current value Icmd is obtained, wherein, manpower moment of torsion, steering wheel angle are measured by the torque angle sensor 22, speed and drive
Dynamic motor speed is inputted by entire car controller 60.Meanwhile the output current Im of the driving motor detected leads to as feedback current
Cross with obtaining error current value e after target current value Icmd subtractions, then vehicle current controller passes through pulse width tune
The reality output torque Tm of (PWM) control driving motor 21 is made, to aid in the manpower moment of torsion to complete go to action jointly.
As shown in Figure 1, in another embodiment, the wheel transmission 40 includes pitman arm 41, steering linkage
42nd, revolver 43, drag link 44 and right wheel 45.One end of the pitman arm 41 and the output shaft 202 of the electric direction varying device 20
It is connected.One end of the steering linkage 42 is connected with the other end of the pitman arm 41.The revolver 43 is drawn with described turn to
The other end of bar 42 is connected and is driven by the steering linkage 42, to complete to turn to.One end of the drag link 44 and the left side
Wheel 43 is connected.The right wheel 45 is connected with the other end of the drag link 44 and is driven by the drag link 44, to synchronously complete
Turn to.
In one embodiment of the invention, the electric boosting steering system further includes current controller and (does not show in figure
Go out), for controlling the operating current of the electric boosting steering system, to protect the electric boosting steering system.
The present embodiment will drive motor 21, torque angle sensor 22 to be integrated at the input shaft 201 of ball-and-nut steering gear,
The space at steering column 12 is saved, while eliminates the dress that motor 21 and torque angle sensor 22 are driven in vehicle assembling
With process, efficiency of assembling is improved, installation is convenient and dismounts maintenance conveniently.In addition, the steering column 12, jackshaft 13 and
Instrument beam etc. is solely subjected to the torque that manpower moment of torsion is not subjected to driving motor 21, therefore these parts need not be strengthened setting again
Meter, versatility is good, saves cost.
Further, it is described driving motor 21 not be connected with steering column 12 but by turbine and worm decelerator with
The input shaft 201 of the electric direction varying device 20 is connected, therefore is no longer limited by the intensity of steering column 12, can provide the defeated of bigger
Go out moment of torsion to adapt to the demand of big axle load Vehicular turn power, application range is wider.
Preferably, the controller 30 is waterproofing controller, that is, adds the degree of protection of the controller 30 so that
The controller 30 can be disposed at outside driver's cabin, and the limitation of cabin interior, energy must be arranged in by improving original controller
Adaptive controller has broken away from the limitation of design, has been more advantageous to arranging in the arrangement of any position of vehicle, is the optimization cloth of system
Put the space that bigger is provided.
Fig. 7 is the flow chart of control method according to an embodiment of the invention.Present invention also offers one kind to be used for
The control method of electric boosting steering system is stated, as shown in fig. 7, it may comprise steps of in general manner：
S10：The protection of the electric boosting steering system is determined according to the temperature characterisitic of driving motor 21 and controller 30
Coefficient.
S20：According to the protection factor calculate maximum current value Imax that the electric boosting steering system can bear and
The duration T 1 of the maximum current value.
S30：When the operating current of the electric boosting steering system reaches the maximum current value Imax and continuous firing
When duration reaches the duration T 1, into Thermal protection program, to control the operating current of the driving motor 21 to be reduced to
Balanced balanced current value Io.
Fig. 8 is driving motor working current according to an embodiment of the invention and the graph of a relation of time.Ordinate in Fig. 8
For the operating current of motor, its unit is ampere, and abscissa is the time, its unit is the second.As shown in figure 8, when driving motor 21
Operating current when reaching the maximum current value Imax and persistently current value to the duration T 1 when, described electric boosted turn
Start Thermal protection program to system, the operating current for driving motor 21 is reduced to balanced balanced current value Io when the time reaching T3.
The balanced balanced current value Io is the equalization point of driving 21 operating current of motor under temperature protection pattern, and whole system determines
Afterwards, which is certain value, represents to work long hours under the current value, and the caloric value of electric boosting steering system is with dissipating
Heat is equal.
Alternatively, duration T 1 is 15 seconds, and T3 is 120 seconds.Big axle load vehicle drives the work of motor 21 when turning to
Electric current can reach maximum current value Imax, therefore its duration T 1 cannot set too short, and it is heavy power-assisted otherwise easily occur
Phenomenon, cause driver in steering procedure uncontrolled to vehicle, easily cause danger.Therefore the limiting condition of consideration vehicle is needed
And rational duration T 1 is set, to ensure that it is best that Thermal protection program can obtain between protection system and vehicle are safe for operation
Design result.This redesign control method, can provide safety and the manipulation experience of more preferable vehicle.
So far, although those skilled in the art will appreciate that detailed herein have shown and described multiple showing for the present invention
Example property embodiment, still, without departing from the spirit and scope of the present invention, still can according to the present invention disclosure it is direct
Determine or derive many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other all these variations or modifications.
Claims (10)
1. a kind of electric boosting steering system, including：
Manpower transmission system, for inputting and transmitting manpower moment of torsion；
Electric direction varying device, has input shaft and output shaft, wherein, driving motor is integrated with the input shaft of the electric direction varying device
And torque angle sensor, the output torque and the manpower moment of torsion collective effect of the driving motor are in the electric direction varying device
Input shaft；
Controller, is connected with entire car controller and the torque angle sensor respectively, for being passed according to the rotation angle of torque
The signal of sensor and the entire car controller controls the driving motor；With
Wheel transmission, is connected with the output shaft of the electric direction varying device, to receive the output torque of the electric direction varying device,
And complete go to action.
2. electric boosting steering system according to claim 1, it is characterised in that the electric direction varying device is electric circulation
Ball steering gear.
3. electric boosting steering system according to claim 2, it is characterised in that the manpower transmission system includes：
Steering wheel, for inputting the manpower moment of torsion；
Steering column, is fixed on cab front panel, and its one end is connected with the steering wheel by spline；With
Jackshaft, its one end are connected with the other end of the steering column by Hooke's joint, the other end with it is described electronic
The input shaft of ball-and-nut steering gear is connected by Hooke's joint.
4. electric boosting steering system according to claim 3, it is characterised in that the jackshaft includes matched flower
Key axis and spline housing, so that the jackshaft is scalable in its axial direction.
5. electric boosting steering system according to claim 2, it is characterised in that inside the electric circulation ball steering gear
Be additionally provided with worm and gear slowing-down structure, the worm screw is fixedly connected with the output shaft of the driving motor, the worm gear with it is described
The input shaft of electric circulation ball steering gear is fixedly connected.
6. electric boosting steering system according to claim 2, it is characterised in that the controller is equipped with：A ports, with
The torque angle sensor is connected, for gathering the manpower moment of torsion；
B ports, are connected with the driving motor, for controlling the driving motor；
C-terminal mouth, is connected with vehicle power supply, to power for the controller；With
D ports, are connected with the entire car controller, for gathering whole vehicle information；
The controller controls the driving motor output torque according to the manpower moment of torsion and the whole vehicle information.
7. electric boosting steering system according to claim 1, it is characterised in that the controller controls for water proof type
Device.
8. electric boosting steering system according to claim 2, it is characterised in that the wheel transmission includes：
Pitman arm, its one end are connected with the output shaft of the electric circulation ball steering gear；
Steering linkage, its one end are connected with the other end of the pitman arm；
Revolver, is connected with the other end of the steering linkage and is driven by the steering linkage, to complete to turn to；
Drag link, its one end are connected with the revolver；With
Right wheel, is connected with the other end of the drag link and is driven by the drag link, to synchronously complete steering with the revolver.
A kind of 9. control method of electric boosting steering system for any one of claim 1-8, it is characterised in that
Comprise the following steps：
The protection factor of the electric boosting steering system is determined according to the temperature characterisitic of the driving motor and the controller；
Maximum current value and the maximum current that the electric boosting steering system can be born are calculated according to the protection factor
The duration of value；
When the operating current of the electric boosting steering system reaches the maximum current value and continuous firing duration reaches described
During the duration, into Thermal protection program, to control the operating current of the driving motor to be reduced to balanced balanced current value.
10. control method according to claim 9, it is characterised in that the duration is 15 seconds, reaches the balance
The time of current value is 150 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025091.4A CN107914768A (en) | 2017-10-27 | 2017-10-27 | A kind of electric boosting steering system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025091.4A CN107914768A (en) | 2017-10-27 | 2017-10-27 | A kind of electric boosting steering system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107914768A true CN107914768A (en) | 2018-04-17 |
Family
ID=61895038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711025091.4A Pending CN107914768A (en) | 2017-10-27 | 2017-10-27 | A kind of electric boosting steering system and its control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107914768A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871841A (en) * | 2019-12-16 | 2020-03-10 | 北京理工大学 | Push-down electric power steering device for commercial vehicle |
| CN110884564A (en) * | 2019-12-16 | 2020-03-17 | 北京理工大学 | Electric servo angle steering gear |
| CN111348101A (en) * | 2018-12-24 | 2020-06-30 | 耐世特汽车***（苏州）有限公司 | Electric steering assistance system, friction compensation method, device, equipment and medium |
| CN112455535A (en) * | 2020-12-08 | 2021-03-09 | 斯沃博达汽车电子（昆山）有限公司 | Automobile steering power-assisted system module unit and production process |
| CN113771937A (en) * | 2020-06-09 | 2021-12-10 | 耐世特汽车***（苏州）有限公司 | Electric steering power assisting method and system and power assisting device thereof |
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| CN205149964U (en) * | 2015-11-02 | 2016-04-13 | 绵阳华瑞汽车有限公司 | Electronic power assisted steering device of EPS of positive function is initiatively returned in area |
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| CN101450677A (en) * | 2007-11-29 | 2009-06-10 | 北京理工大学 | Motor push rod type power-assisted steering apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348101A (en) * | 2018-12-24 | 2020-06-30 | 耐世特汽车***（苏州）有限公司 | Electric steering assistance system, friction compensation method, device, equipment and medium |
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| CN110884564A (en) * | 2019-12-16 | 2020-03-17 | 北京理工大学 | Electric servo angle steering gear |
| CN113771937A (en) * | 2020-06-09 | 2021-12-10 | 耐世特汽车***（苏州）有限公司 | Electric steering power assisting method and system and power assisting device thereof |
| CN112455535A (en) * | 2020-12-08 | 2021-03-09 | 斯沃博达汽车电子（昆山）有限公司 | Automobile steering power-assisted system module unit and production process |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180417 |
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