CN108334122B - Single-cylinder planetary gear type magnetorheological fluid force feedback device and application method thereof - Google Patents
Single-cylinder planetary gear type magnetorheological fluid force feedback device and application method thereof Download PDFInfo
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- CN108334122B CN108334122B CN201810409797.9A CN201810409797A CN108334122B CN 108334122 B CN108334122 B CN 108334122B CN 201810409797 A CN201810409797 A CN 201810409797A CN 108334122 B CN108334122 B CN 108334122B
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Abstract
The invention discloses a single-cylinder planetary gear type magnetorheological fluid force feedback device and a use method thereof, wherein the device comprises the following components: the system comprises a force sense simulation system, a force sense generation system, a reversing planetary gear system and a power supply system. The motor of the invention has no abrupt change in the rotating speed direction, no abrupt change in the viscosity of the magnetorheological fluid, planetary gear transmission, all gears meshed with each other all the time, and no slippage of gears in the transmission and force transmission processes, so that the friction and abrasion are small and the service life is long.
Description
Technical Field
The invention belongs to the technical field of automobile electric control and intellectualization, and relates to a single-cylinder planetary gear type magnetorheological fluid force feedback device and a use method thereof.
Background
The traditional vehicle road test has the defects of high cost, long time, limited site conditions, easy occurrence of accidents under the limit working conditions and the like, and the adoption of an automobile driving simulation system to replace the traditional vehicle road test is the current mainstream trend. The mature driving simulation system can truly reflect the motion state, road conditions, surrounding environment, various body senses and force sense of the vehicle, and greatly reduces the capital cost, time cost and labor cost of the vehicle road test. In which accurate steering wheel force feedback is essential, which largely determines whether the driver can make corresponding operations according to a given route or driving intention, and is critical to the operation decision of the driver. The traditional force feedback device mainly comprises a torque motor matched with a speed reducing mechanism, but has the defects of unsmooth control, large delay and shake, complex mechanical connecting device, easy motor blocking and the like, so the patent provides a single-cylinder planetary gear type magnetorheological hydraulic feedback device, and the main difference is that the direction control of the force is completed by a planetary gear system driven by a motor to rotate reversely, the size control of the force is completed by controlling the viscosity of magnetorheological fluid through an exciting coil, the delay and shake of a traditional torque motor direct connection scheme are eliminated to a certain extent, the accurate feedback of the torque can be ensured, and a series of defects of the torque motor can be overcome.
Magnetorheological fluids are intelligent materials, and are suspensions formed by dispersing micrometer-sized magnetically polarized particles in non-magnetic liquids (mineral oil, silicone oil, etc.). Under the condition of zero magnetic field, the magnetorheological fluid can flow freely, shows the behavior of Newtonian fluid, and has small apparent viscosity; the apparent viscosity can be increased by more than several orders of magnitude in a short time (millisecond level) under the action of an externally applied magnetic field, the shear-resistant and yield stress is similar to that of solid, the change is continuous and reversible, namely, the magnetic field is removed and the magnetic field returns to the original flowing state, and the characteristic is slightly influenced by other external factors (such as temperature). The magnetorheological effect of the magnetorheological fluid provides a wide application prospect in engineering practice.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a single-cylinder planetary gear type magnetorheological fluid force feedback device and a use method thereof, which solve the problems of delay jitter, unsmooth control, complex mechanical connection device and easy blocking of the force feedback device in the prior art.
The technical proposal adopted by the invention is that the single-cylinder planetary gear type magnetorheological fluid feedback device comprises a bracket, a bearing support, a corner and torque sensor, an exciting coil, a limit ring and a motor are sequentially arranged on the bracket, a steering column passes through a bearing and is rigidly connected with one end of the corner and torque sensor through a coupler, the steering column is rigidly connected with the steering wheel, the other end of the corner and torque sensor is rigidly connected with an output shaft through a coupler, the output shaft is connected with an output end cover plate through a key, one end of an input shaft is connected with the motor through the coupler, the other end of the input shaft is connected with a sun gear through a key, a planetary bracket is arranged on the input shaft, the input shaft penetrates through the planetary bracket and is connected with the planetary bracket through the key, a planetary wheel is arranged on the planetary bracket and is connected with a sun gear, a ring gear passes through the planetary bracket and is connected with the planetary wheel, the roller is arranged in the middle of the bracket, the roller is connected with the upper side and the lower side of the input end cover plate and the output end cover plate through screws and sealing gaskets, the gear ring is connected with the roller through O-shaped sealing rings, the planet bracket is provided with a bearing and a sleeve, the sleeve is connected with the bearing, the input end cover plate is sleeved outside the bearing and connected with the roller, the planet bracket is connected with the sealing end cover plate through a sealing felt, the sealing end cover plate is connected with the input end cover plate through a sealing gasket, a closed space is formed between the gear ring and the input end cover plate, a closed space is formed between the sun gear and the output end cover plate, magneto-rheological fluid is arranged in the two closed spaces, exciting coils are arranged outside the two closed spaces, a sleeve is arranged between the magneto-rheological fluid between the gear ring and the input end cover plate and the planet bracket, and the rotation angle and torque sensor are respectively connected with the force sensing controller and the magneto-rheological fluid controller through signal wires, the force sensing controller is sequentially connected with the magnetorheological fluid controller, the current generator and the exciting coil through signal wires, and the motor controller is sequentially connected with the motor driver and the motor through signal wires.
Further, the power supply is respectively connected with the rotation angle and torque sensor, the motor, the force sensing controller, the motor driver, the magnetorheological fluid controller and the current generator through power supply lines.
Further, the planetary gear rotates around the axis of the planetary gear.
Further, the gear ring, the sun gear and the planetary gear are meshed on the same plane.
The application method of the single-cylinder planetary gear type magnetorheological fluid force feedback device comprises the following steps:
step one, rotating a steering wheel in a driving process, detecting the size and the direction of the steering wheel angle by a steering angle and torque sensor, transmitting the steering wheel angle and the direction to a force sensing controller, and correcting moment caused by a kingpin inclination angle, displacement and micro-element side counterforce distributed on a ground plane by M A ＝QD sinβsinδ，M y ＝F y (ξ · +ξ ·· )，
Wherein M is A The steering moment of the road surface to the wheels caused by the caster of the kingpin is represented by Q, the steering wheel load, D, the kingpin displacement, beta, the caster of the kingpin, delta, the wheel rotation angle and M y For moment caused by caster of kingpin, F y Is the lateral force of the tyre, ζ · For the trailing distance of the tyre, ζ ·· The caster trail is the caster trail, M is the mass of the whole vehicle, v is the vehicle speed, b is the distance from the mass center to the rear axle, R is the steering radius, L is the wheelbase, and the damping moment is caused by the friction between the steering system and the ground D ＝B s θ+Q.f.sign (θ), where B s For the damping coefficient of the steering shaft in the steering system, θ is the steering wheel rotation angle, f is the ground friction coefficient, sign (θ) indicates that the friction torque direction is opposite to the steering wheel rotation direction, and therefore, the theoretical steering wheel torque can be expressed as: m is M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s θ, deriving the magnitude and direction of the theoretical steering wheel torque, and transmitting the magnitude and direction of the theoretical steering wheel torque to the magnetorheological fluid controller;
step two, the magnetorheological fluid controller is controlled according to M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s θ gives the theoretical steering wheel torque, the direction is opposite to the steering wheel angle, and a decision is made as to which excitation coil should be supplied with power and the magnitude of the supplied current, the shear stress τ generated by the magnetorheological fluid 0 ＝1150B 4 -2140B 3 +1169B 2 64b+0.8, wherein B is the magnetic induction, b=μh, wherein μ is the magnetic permeability, H is the magnetic field strength, hl=ni by ampere loop theorem, wherein N is the number of turns of the exciting coil, I is the exciting coil current, l is the magnetic path length, and then implemented by a current generator, the magnetorheological fluid controller is further capable of receiving torque signals output by the angle and torque sensors, according to the theoretical steering wheel torque M l The value of (a) and the value of the actual moment M are fed back to adjust the feedback moment compensation amount Δm=m l -M, ensuring that the torque eventually transferred to the driver is equal to the theoretical steering wheel torque;
step three, a motor controller controls a motor to rotate at a constant speed through a motor driver, a gear ring and a sun wheel are used as active sources to be driven by the motor and are commutated by planet wheels, the gear ring and the sun wheel always maintain reverse rotation, and the gear ring/sun wheel can transmit the driving moment of the gear ring/sun wheel to an input end cover plate/an output end cover plate and a roller through the shearing force of magnetorheological fluid so as to ensure that the moment can be output at any time
r is the radius of the contact surface of the gear ring/sun gear and magnetorheological fluid, and tau 0 Scissors for generating magneto-rheological fluidThe input end cover plate and the output end cover plate are tightly covered by magnetorheological fluid, so that the driving torque of the gear ring/sun gear is ready to be received at any time and is transmitted to the steering wheel through the rotation angle and torque sensor, the exciting coil at the other side has no current when the gear ring/sun gear at one side works, and the sun gear/gear rotates idly. />
Compared with the prior art, (1) the single-cylinder planetary gear type magnetorheological fluid force feedback device has the advantages that motor control is simpler, and delay and jitter of direct torque control of a traditional force feedback device are eliminated. Because the motor is only used as an active source in the invention, the constant speed control is only needed, and the delay of the rotating speed has no influence on the force feedback process, thereby changing the adverse condition that the traditional force feedback device affects the final realization effect because the motor performance is not high; (2) The single-cylinder planetary gear type magnetorheological fluid feedback device adopts the intelligent material magnetorheological fluid, so that the response speed of the device is changed into millisecond level, and the delay characteristic of the traditional force feedback device is eliminated. In addition, as a hydraulic transmission mode is adopted, the force transmission process is softer, so that a driver can better experience the feedback moment of the steering wheel in the driving simulation process; (3) The single-cylinder planetary gear type magnetorheological fluid force feedback device adopts the planetary gear reversing system, so that no parameter mutation exists in the control process, the typical representation is that the motor rotation speed direction does not need to be mutated, the magnetorheological fluid viscosity does not need to be mutated, the planetary gears are used for transmission, all gears are meshed with each other all the time, and no slippage of the gears exists in the transmission and force transmission processes, so that the friction and abrasion are small, and the service life is long; the planetary gear mechanism has simple and compact structure, the load is distributed to a plurality of teeth, the strength is high, that is, the strength requirement on the gear teeth is low, and the manufacturing difficulty and cost are reduced; all gear teeth are meshed on the same plane, so that the transmission length is reduced, namely the length of the whole force feedback device is shortened, the whole structure is relatively simplified, and the response speed of the device is essentially improved, therefore, the performance of the device is superior to that of the traditional force feedback device; (4) The single-cylinder planetary gear type magnetorheological fluid force feedback device adopts the torque sensing signal to carry out real-time feedback adjustment, can ensure that the actually generated steering wheel force feedback value is equal to the theoretical force feedback value, and has better control effect.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 2 is a front view of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 3 is a top view of a single-cylinder planetary gear type magnetorheological fluid feedback device;
FIG. 4 is a cross-sectional view of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 5 is a control flow and signal transmission diagram of a single-cylinder planetary gear type magnetorheological fluid force feedback device;
FIG. 6 is a disassembled isometric view of the reversing assembly of the single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 7 is an isometric view of a ring gear of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 8 is an isometric view of an excitation coil of the single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 9 is an isometric view of a sun gear of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
fig. 10 is an isometric view of a planet wheel of the single-cylinder planet gear type magnetorheological fluid force sensing feedback device;
FIG. 11 is an isometric view of a planet carrier of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device;
FIG. 12 is an isometric view of an input shaft of the single-cylinder planetary gear type magnetorheological fluid feedback device;
FIG. 13 is an isometric view of an output shaft of the single-cylinder planetary gear type magnetorheological fluid feedback device;
fig. 14 is an isometric view of a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device stop collar.
In the drawings, 1, a bracket, 2, an electric motor, 3, a coupling, 4, a retainer ring, 5, a seal end cap, 6, an input end cover, 7.O, 8, a roller, 9, a ring gear, 10, a planetary gear, 11, a sun gear, 12, an excitation coil, 13, an output end cover, 14, a bearing support, 15, a steering column, 16, a steering wheel, 17, a corner and torque sensor, 18, an output shaft, 19, a key, 20, a planet carrier, 21, an input shaft, 22, a sleeve, 23, a seal washer, 24, a bearing, 25, a seal gasket, 26, a seal felt, 27, a force sensing controller, 28, a motor controller, 29, a motor driver, 30, a magnetorheological fluid controller, 31, a current generator, 32, and a power source.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, the single-cylinder planetary gear type magnetorheological fluid force sensing feedback device comprises a force sensing simulation system, a force sensing control system, a force sensing generation system, a reversing system and a power supply system;
the single-cylinder planetary gear type magnetorheological fluid force feedback device comprises a support 1, wherein a bearing support 14, a rotation angle and torque sensor 17, an excitation coil 12, a limit ring 4 and a motor 2 are sequentially arranged on the support 1;
force sense simulation system: according to the steering wheel 16 angle signal, is used for producing the magnitude and direction of the theoretical steering wheel force sense; comprises a steering wheel 16, a steering column 15, a bearing 24, a bearing support 14, a coupler 3, a corner and torque sensor 17 and a force sensing controller 27; the bracket 1 is sequentially provided with a bearing support 14 and a corner and torque sensor 17, a steering column 15 is connected with one end of the corner and torque sensor 17 through a bearing by a coupler, the steering column 15 is rigidly connected with a steering wheel 16, and the corner and torque sensor 17 is connected with a force sensing controller 27 through a signal wire;
force sensing control system: generating corresponding control signals according to the theoretical force sense, and controlling the rotating speed of the motor 2 and the viscosity of the magnetorheological fluid; the motor controller 28, the motor driver 29, the magnetorheological fluid controller 30 and the current generator 31 are included, as shown in fig. 4, the rotation angle and torque sensor 17 is respectively connected with the force sensor controller 27 and the magnetorheological fluid controller 30 through signal wires, the force sensor controller 27 is sequentially connected with the magnetorheological fluid controller 30, the current generator 31 and the exciting coil 12 through signal wires, and the motor controller 28 is sequentially connected with the motor driver 29 and the motor 2 through signal wires;
force sense generating system: for receiving control signals of the steering wheel 16 force sense and generating actual torque in accordance with electromagnetic action and viscous liquid transmission action; as shown in fig. 7 to 14, the motor comprises a coupling 3, an exciting coil 12, a motor 2, an input shaft 21, an output shaft 18, a sealing end cover 5, a sealing gasket 23, a sealing gasket 25, a sealing felt 26, a bearing 24, a sleeve 22, an O-ring 7, a gear ring 9, a sun gear 11, a planet wheel 10, a planet carrier 20, a roller 8, a key 19, an output end cover plate 13, an input end cover plate 6 and a limit ring 4; the other end of the rotation angle and torque sensor 17 is rigidly connected with an output shaft 18 through a coupler, the output shaft 18 is connected with an output end cover plate 13 through a key 19, one end of an input shaft 21 is connected with a motor 2 through a coupler 3, the other end of the input shaft 21 is connected with a sun gear 11 through a key, one end of the input shaft 21, which is close to the coupler 3, is provided with a limit ring 4, a planetary support 20 is arranged on the input shaft 21, the input shaft 21 penetrates through the planetary support 20 and is connected with the planetary support 20 through a key, a planetary wheel 10 is arranged on the planetary support 20, the planetary wheel 10 is connected with a sun gear 11 through the planetary support 20, a gear ring 9 is connected with the planetary wheel 10 through the planetary wheel, a roller 8 is arranged in the middle of the support 1, the roller 8 is connected with the upper side and the lower side of the input end cover plate 6 and the output end cover plate 13 through a screw and a sealing washer 23, the gear ring 9 is connected with the roller 8 through an O-shaped sealing ring 7, the planet carrier 20 is provided with a bearing 24 and a sleeve 22, the sleeve 22 is connected with the bearing 24, the input end cover plate 6 is sleeved outside the bearing 24 and connected with the roller 8, the planet carrier 20 is connected with the seal end cover plate 5 through a seal felt 26, the seal end cover 5 is connected with the input end cover plate 6 through a seal gasket 25, a closed space is formed between the gear ring 9 and the input end cover plate 6, a closed space is formed between the sun gear 11 and the output end cover plate 13, magnetorheological fluid is arranged inside the two closed spaces, exciting coils 12 are arranged outside the two closed spaces, and a sleeve 22 is arranged between the magnetorheological fluid between the gear ring 9 and the input end cover plate 6 and the planet carrier 20;
reversing system: the motor is used for enabling the sun gear 11 and the gear ring 9 to always keep reverse movement after the motor 2 is started, so that force sense in opposite directions is generated; comprises an input shaft 21, a gear ring 9, a sun gear 11, a planet wheel 10 and a planet carrier 20; as shown in fig. 5-6, a planetary carrier 20 is arranged on an input shaft 21, the input shaft 21 penetrates through the planetary carrier 20 and is connected with the planetary carrier 20 through a key, a planetary wheel 10 is arranged on the planetary carrier 20, the planetary wheel 10 is connected with a sun wheel 11 through a gear, and a gear ring 9 penetrates through the planetary carrier 20 and is connected with the planetary wheel 10 through a gear;
and (3) a power supply system: for providing electrical energy to the device; the power supply 32 is connected to the rotation angle and torque sensor 17, the motor 2, the force sensor controller 27, the motor controller 28, the motor driver 29, the magnetorheological fluid controller 30, and the current generator 31 via power supply lines, respectively.
The steering wheel 16 is used to provide steering means for the driver;
the rotation angle and torque sensor 17 is used for detecting the rotation angle of the steering wheel 16, the direction and subsequent force sense control, and detecting the torque value transmitted to the steering column 15 in the hand of the driver, and is used for subsequent torque value feedback control, so that the force sense is closer to the theoretical force sense;
the force sensing controller 27 operates an internal theoretical force sensing simulation algorithm according to the rotation angle and direction of the driver's turn steering wheel 16, generating a theoretical steering wheel torque having the same magnitude and direction as that of the actual vehicle driving.
The motor controller 28 is used for controlling the motor 2 to rotate at a constant speed, so that the motor 2 can maintain the constant speed to rotate and drive the sun gear 11 and the gear ring 9 to rotate under the load fluctuation working condition, and the motor controller 28 generates PWM control signals and transmits the PWM control signals to the motor driver 29 for controlling the motor 2;
the motor driver 29 receives the PWM control signal generated by the motor controller 28 and converts it into a voltage-current signal to be transmitted to the motor 2, so that the motor 2 can maintain a preset rotational speed;
as shown in fig. 5, the magnetorheological fluid controller 30 runs a control algorithm according to the magnitude of the theoretical steering wheel moment generated by the force sensing controller 27, decides the exciting current value required by the exciting coil 12, decides which exciting coil 12 should be supplied with power according to the direction of the theoretical steering wheel moment generated by the force sensing controller 27, ensures that the magnetorheological fluid between the sun gear 11 and the input end cover plate 6 or the magnetorheological fluid between the gear ring 9 and the output end cover plate 13 is magnetized, simultaneously the external corresponding exciting coil 12 is electrified, simultaneously the magnetorheological fluid controller 30 also receives signals of the rotation angle and torque sensor 17 to regulate the magnitude of the exciting coil 12 current in real time, and ensures that the magnitude of the moment transmitted to the driver on the steering column 15 is the same as the magnitude of the theoretical force sense;
the current generator 31 receives the theoretical current transmitted by the magnetorheological fluid controller 30 to generate exciting current with the same size for being input to the exciting coils 12, the current generator 31 is provided with two channels respectively connected with the two exciting coils 12, and the specific direction of which channel is used for transmitting current depends on the direction of the moment of the theoretical steering wheel, and the selection is decided by the magnetorheological fluid controller 30.
The motor 2 is used for reversely rotating the gear ring 9 and the sun gear 11; the motor 2 is connected with the input shaft 21, the motor 2 drives the input shaft 21 to rotate, and then drives the sun gear 11 to rotate, the sun gear 11 drives the planet gears 10 to rotate, the planet gears 10 are arranged on the planet support 20, the planet gears 10 only rotate around the axis of the planet gears, the planet support 20 is subjected to the action of the limiting rings 4 fixedly connected to the support 1, no movement is generated, the rotation speed ratio of the gear ring 9 to the sun gear 11 is determined, the planet gears 10 drive the gear ring 9 to rotate, and accordingly the rotation directions of the gear ring 9 and the sun gear 11 are opposite, opposite torque is transmitted, and gear teeth of the gear ring 9, the sun gear 11 and the planet gears 10 are meshed on the same plane.
The exciting coil 12 is used for controlling the magnetic field to be generated so as to control the viscosity of magnetorheological fluid between the gear ring 9/the sun gear 11 and the input end cover plate 6/the output end cover plate 13;
the gear ring 9 is used for generating movement in one direction and generating driving moment with magnetorheological fluid between the input end cover plate 6;
the sun gear 11 is used for generating motion in the other direction and generating driving moment with magnetorheological fluid between the output end cover plate 13;
the magnetorheological fluid is distributed in two closed spaces formed between the gear ring 9 and the input end cover plate 6 and between the sun wheel 11 and the output end cover plate 13.
The application method of the single-cylinder planetary gear type magnetorheological fluid force feedback device is to apply the single-cylinder planetary gear type magnetorheological fluid force feedback device, and specifically comprises the following steps of:
step one, the steering wheel 16 is rotated during driving, the rotation angle and torque sensor 17 detects the rotation angle and direction of the steering wheel 16 and transmits the rotation angle and direction to the force sensing controller 27, the aligning moment is caused by the principal pin inclination angle and displacement and the infinitesimal side counterforce distributed on the ground plane, and M A ＝QD sinβsinδ，M y ＝F y (ξ · +ξ ·· )，
Wherein M is A The steering moment of the road surface to the wheels caused by the caster of the kingpin is represented by Q, the steering wheel load, D, the kingpin displacement, beta, the caster of the kingpin, delta, the wheel rotation angle and M y For moment caused by caster of kingpin, F y The tire side force, ζ, the tire trailing distance, ζ, the kingpin caster trailing distance, M the vehicle mass, v the vehicle speed, b the distance from the mass center to the rear axle, R the steering radius, L the wheelbase, the damping moment caused by the steering system and ground friction M D ＝B s θ+Q.f.sign (θ), where B s For the damping coefficient of the steering shaft in the steering system, θ is the steering wheel 16 rotation angle, f is the ground friction coefficient, sign (θ) indicates that the friction torque direction is opposite to the steering wheel 16 rotation direction, and thus, the theoretical steering wheel torque can be expressed as: m is M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s θ, deriving the magnitude and direction of the theoretical steering wheel moment, and steering the theoretical directionThe magnitude and direction of the disc torque is transferred to the magnetorheological fluid controller 30;
step two, the magnetorheological fluid controller 30 is controlled according to M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s θ gives the theoretical steering wheel torque in the opposite direction to the steering wheel 16 angle, determines which field coil 12 should be supplied with power and provides the magnitude of the supplied current, and the shear stress τ generated by the magnetorheological fluid 0 ＝1150B 4 -2140B 3 +1169B 2 64b+0.8, where B is the magnetic induction, b=μh, where μ is the magnetic permeability, H is the magnetic field strength, hl=ni by ampere-loop theorem, where N is the number of turns of the exciting coil 12, I is the exciting coil 12 current, l is the magnetic path length, and then implemented by the current generator 31, the magnetorheological fluid controller 30 is further capable of receiving the torque signal output by the angle and torque sensor 17, according to the theoretical steering wheel torque M l The value of (a) and the value of the actual moment M are feedback-adjusted, and the feedback moment compensation amount Δm=m l -M, ensuring that the torque eventually transferred to the driver is equal to the theoretical steering wheel torque;
step three, the motor controller 28 controls the motor 2 to maintain constant-speed rotation through the motor driver 29 to generate a theoretical steering wheel force sense, the gear ring 9 and the sun gear 11 are driven by the motor 2 as active sources and are commutated by the planet gears 10, the gear ring 9 and the sun gear 11 always maintain reverse rotation, and the gear ring 9/sun gear 11 can transmit the driving moment of the gear ring 9/sun gear 11 to the input end cover plate 6 (or the output end cover plate 13) and the roller 8 through the shearing force of magnetorheological fluid, so that the moment can be output at any time
r is the radius of the contact surface of the gear ring 9/the sun gear 11 and the magnetorheological fluid, and tau 0 For the shearing stress generated by the magnetorheological fluid, the input end cover plate 6 and the output end cover plate 13 are tightly covered by the magnetorheological fluid, so that the driving moment of the gear ring 9/the sun gear 11 is ready to be received at any time and is transmitted to the steering wheel 16 through the rotation angle and torque sensor 17; when one side gear ring 9 (or sun gear 11) works, the exciting coil 12 on the other side has no current, and the sun gear 11 (or gear ring 9) is emptyAnd (5) turning.
Examples
The motor 2 rotates clockwise at a constant speed of 2 revolutions per second, the sun wheel 11 and the gear ring 9 rotate in opposite directions, at the moment, a driver rotates the steering wheel 16 anticlockwise from a zero position, after the force sensing controller 27 determines the magnitude of theoretical force sense, the theoretical current of the exciting coil 12 is determined through the magnetorheological fluid controller 30, meanwhile, the force sensing controller 27 determines that the direction of the theoretical force sense should be clockwise, the magnetorheological fluid controller 30 controls the current generator 31, the magnetorheological fluid between the sun wheel 11 and the output end cover plate 13 is selectively electrified, namely, the corresponding external exciting coil 12 is electrified, the coil generates a magnetic field to the magnetorheological fluid in the coil, the viscosity of the magnetorheological fluid is changed to a proper magnitude, under the action of the sun wheel 11 rotating clockwise, the output end cover plate 13 generates a clockwise feedback moment with the magnitude equal to the theoretical force sense and transmits the clockwise feedback moment to the steering wheel 16, and at the moment, the gear ring 9 idles; if the driver turns the steering wheel 16 clockwise from the zero position at this time, the force sensor controller 27 determines the magnitude of the theoretical force sensor, and then the magnetorheological fluid controller 30 determines the theoretical current of the exciting coil 12. Meanwhile, the force sensing controller 27 decides that the direction of the theoretical force sensing should be anticlockwise, the magnetorheological fluid controller 30 controls the current generator 31 to selectively energize the magnetorheological fluid between the gear ring 9 and the input end cover plate 6, namely energize the corresponding external exciting coil 12, the coil generates a magnetic field to the magnetorheological fluid in the coil, the viscosity of the magnetorheological fluid is changed to a proper size, and under the action of the anticlockwise rotating gear ring 9, the input end cover plate 6 transmits anticlockwise feedback moment with the same size as the theoretical force sensing to the steering wheel 16, and at the moment, the sun wheel 11 idles.
Through the control of the magnetorheological fluid controller 30 and the execution of the reversing system, the current generator 31 can switch the power supply channel at any time, the invention can output moment with any size and direction at any position of the steering wheel 16, and no motor reversing exists in the whole control process, so the response speed of the system is determined by the response speed of the magnetorheological fluid, and the response speed of the magnetorheological fluid is in the millisecond level, and therefore, the invention has more advantages than the traditional force sensing feedback device.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (5)
1. The single-cylinder planetary gear type magnetorheological fluid force feedback device is characterized by comprising a support (1), wherein a bearing support (14), a corner and torque sensor (17), an exciting coil (12), a limit ring (4) and a motor (2) are sequentially arranged on the support (1), a steering column (15) penetrates through a bearing to be rigidly connected with one end of the corner and torque sensor (17) through a coupler, the steering column (15) is rigidly connected with a steering wheel (16), the other end of the corner and torque sensor (17) is rigidly connected with an output shaft (18) through a coupler, the output shaft (18) is connected with an output end cover plate (13) through a key (19), one end of an input shaft (21) is connected with the motor (2) through the coupler, the other end of the input shaft (21) is connected with a sun gear (11) through the key, a planet carrier (20) is arranged on the input shaft (21) and penetrates through the planet carrier (20) and is connected with the input shaft, a planet wheel (10) is arranged on the planet carrier (20), the planet wheel (10) is in gear connection with the sun gear (11), the output shaft (18) is connected with the output shaft (13) through the coupler, one end of the input shaft (21) is connected with the sun gear (11) through the key (20), the roller (8) is connected with the upper side and the lower side of the input end cover plate (6) and the output end cover plate (13) through screws and sealing gaskets (23), the gear ring (9) is connected with the roller (8) through O-shaped sealing rings (7), a bearing (24) and a sleeve (22) are arranged on the planetary support (20), the sleeve (22) is connected with the bearing (24), the input end cover plate (6) is sleeved outside the bearing (24) and connected with the roller (8), the planetary support (20) is connected with the sealing end cover plate (5) through sealing gaskets (26), the sealing end cover plate (5) is connected with the input end cover plate (6) through sealing gaskets (25), a closed space is formed between the gear ring (9) and the input end cover plate (6), a closed space is formed between the sun wheel (11) and the output end cover plate (13), magnetorheological fluid is arranged inside the two closed spaces, exciting coils (12) are arranged outside the two closed spaces, the magnetorheological fluid between the gear ring (9) and the input end cover plate (6) is sleeved with the planetary support (20), the sleeve (22) is arranged between the magnetorheological fluid and the rotary angle and the planetary support (20), the rotary angle sensor (17) is connected with the magnetorheological fluid sensor (27) through a magnetic flow sensor (30) and a magnetic flow sensor (30) in turn, and a magnetic flow sensor (30) is connected with a force controller (30) respectively, and a force controller (30) respectively The current generator (31) is connected with the exciting coil (12), and the motor controller (28) is connected with the motor driver (29) and the motor (2) in sequence through signal wires.
2. The single-tube planetary gear type magnetorheological fluid force feedback device according to claim 1, wherein the power supply (32) is respectively connected with the rotation angle and torque sensor (17), the motor (2), the force sensor controller (27), the motor controller (28), the motor driver (29), the magnetorheological fluid controller (30) and the current generator (31) through power supply lines.
3. Single-cylinder planetary gear type magnetorheological fluid force feedback device according to claim 1, characterized in that the planetary wheel (10) rotates around its own axis.
4. Single-cylinder planetary gear type magnetorheological fluid force sensing feedback device according to claim 1, characterized in that the gear teeth mesh of the gear ring (9), the sun gear (11) and the planet gear (10) are all in one plane.
5. A method of using a single-cylinder planetary gear type magnetorheological fluid force sensing feedback device according to any one of claims 1 to 4, comprising the steps of:
step one, rotating the steering wheel (16) in the driving process, detecting the magnitude and the direction of the steering wheel (16) by a steering angle and torque sensor (17) and transmitting the steering wheel to a force sensing controller (27), wherein the aligning moment is caused by the inclination angle and the displacement of a kingpin and the infinitesimal side counterforce of the ground plane distribution, M A ＝QDsinβsinδ，M y ＝F y (ξ · +ξ ·· )，
Wherein M is A The steering moment of the road surface to the wheels caused by the inward inclination of the kingpin is Q, and the steering wheel is negativeThe carrier, D is the kingpin displacement, beta is the kingpin internal inclination angle, delta is the wheel rotation angle, M y For moment caused by caster of kingpin, F y Is the lateral force of the tyre, ζ · For the trailing distance of the tyre, ζ ·· The caster trail is the caster trail, M is the mass of the whole vehicle, v is the vehicle speed, b is the distance from the mass center to the rear axle, R is the steering radius, L is the wheelbase, and the damping moment is caused by the friction between the steering system and the ground D ＝B s θ+Q.f.sign (θ), where B s For the damping coefficient of the steering shaft in the steering system, θ is the steering wheel (16) rotation angle, f is the ground friction coefficient, sign (θ) indicates that the friction torque direction is opposite to the steering wheel (16) rotation direction, and therefore, the theoretical steering wheel torque can be expressed as: m is M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s θ, deriving the magnitude and direction of the theoretical steering wheel torque, and transmitting the magnitude and direction of the theoretical steering wheel torque to a magnetorheological fluid controller (30);
step two, a magnetorheological fluid controller (30) is used for controlling the magnetorheological fluid according to M l ＝F(θ)＝(M A +M y )/i+(M D -B s ·θ)/i+B s Theta gives the theoretical steering wheel moment in the opposite direction to the steering wheel (16) rotation angle, determines which exciting coil (12) should be supplied with power and supplies the supplied current, and the shear stress tau generated by the magnetorheological fluid 0 ＝1150B 4 -2140B 3 +1169B 2 -64b+0.8, wherein B is magnetic induction, b=μh, wherein μ is magnetic permeability, H is magnetic field strength, hl=ni by ampere loop theorem, wherein N is the number of turns of the exciting coil (12), I is the exciting coil (12) current, l is the magnetic path length, and then executed by the current generator (31), the magnetorheological fluid controller (30) is further capable of receiving torque signals output by the rotational angle and torque sensor (17), according to the theoretical steering wheel torque M l The value of (a) and the value of the actual moment M are feedback-adjusted, and the feedback moment compensation amount Δm=m l -M, ensuring that the torque eventually transferred to the driver is equal to the theoretical steering wheel torque;
step three, a motor controller (28) controls the motor (2) to rotate at constant speed through a motor driver (29), and a gear ring (9) and a motor driver are arranged on the motor controllerThe sun wheel (11) is used as an active source to be driven by the motor (2) and is commutated by the planet wheel (10), the gear ring (9) and the sun wheel (11) always maintain reverse rotation, and the gear ring (9)/the sun wheel (11) can transmit the driving moment of the gear ring (9)/the sun wheel (11) to the input end cover plate (6)/the output end cover plate (13) and the roller (8) through the shearing force of magnetorheological fluid so as to ensure that the moment can be output at any time
r is the radius of the contact surface of the gear ring (9)/sun gear (11) and magnetorheological fluid, and tau 0 For shear stress generated by magnetorheological fluid, the input end cover plate (6) and the output end cover plate (13) are tightly covered by the magnetorheological fluid, so that driving torque of the gear ring (9)/the sun gear (11) is ready to be received at any time and is transmitted to the steering wheel (16) through the rotation angle and torque sensor (17), no current exists in the exciting coil (12) at the other side of the gear ring (9)/the sun gear (11) when the gear ring (9)/the sun gear (11) works, and the sun gear (11)/the gear ring (9) idles. />
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| TWI509379B (en) * | 2014-07-31 | 2015-11-21 | China Pneumatic Corp | Torque control method and apparatus thereof |
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| FR2533333A1 (en) * | 1982-09-16 | 1984-03-23 | Bernard Ets L | Method of limiting the torque produced by a motor device and intended to drive a user device in movement and system for implementing this method |
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| CN105573145A (en) * | 2015-12-22 | 2016-05-11 | 哈尔滨工业大学 | Magnetorheological fluid load simulator |
| CN105871294B (en) * | 2016-04-28 | 2018-05-25 | 中国矿业大学 | A kind of Extrusion Control System and control method based on magneto-rheologic liquid brake |
| CN105841959B (en) * | 2016-06-13 | 2019-04-26 | 苏州大学 | A kind of experimental rig of planetary gear train load |
| CN208126215U (en) * | 2018-05-02 | 2018-11-20 | 吉林大学 | The magnetorheological fluid power sense feedback device of monotubular planetary gear type |
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| JP2000337981A (en) * | 1999-05-26 | 2000-12-08 | Yamaha Motor Co Ltd | Driving device |
| FR3022352A1 (en) * | 2014-06-16 | 2015-12-18 | Peugeot Citroen Automobiles Sa | DEVICE AND METHOD FOR CONTROLLING A RAMPING MARKET MODE OF A VEHICLE BASED ON ITS CURRENT SPEED AND BRAKE DURATION INTENSITY |
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