CN109291991A - A kind of bi-motor line traffic control composite turning system and its control method - Google Patents
A kind of bi-motor line traffic control composite turning system and its control method Download PDFInfo
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- CN109291991A CN109291991A CN201811460984.6A CN201811460984A CN109291991A CN 109291991 A CN109291991 A CN 109291991A CN 201811460984 A CN201811460984 A CN 201811460984A CN 109291991 A CN109291991 A CN 109291991A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
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Abstract
The present invention provides a kind of bi-motor line traffic control composite turning system and its control methods, wherein bi-motor line traffic control composite turning system includes steering wheel, column assy, road feel assembly, bi-motor steering actuator, turning control cell complete the course changing control to the system by self-adaptation control method.Biggish steering moment may be implemented in the system, the fusion of the steering behaviours such as lower energy consumption, faster response speed is unified, the control method automatically regulates course changing control parameter according to actual conditions are driven, the uncertainty in running environment can be preferably resisted, guarantees to turn to precision and vehicle safety.
Description
Technical field
The invention belongs to automobile steering system technical field, refer specifically to for a kind of bi-motor line traffic control composite turning system and its
Control method.
Background technique
As vehicle intellectualized degree is higher and higher, each execution module of automobile also tends to line traffic control.Wherein line traffic control turns
Transmission ratio can be freely designed to system, improves active safety performance, saves arrangement space, and be easier and brake-by-wire, line
Control throttle etc. is cooperated, and is the hot spot of current research.The implementation of existing wire-controlled steering system mainly has following a few classes:
Single motor steering-by-wire, bi-motor steering-by-wire, four-wheel steering etc..Single motor steering-by-wire structure is simple, but the motor used
Power is larger；Bi-motor steering can be turned to, safety is stronger in an electrical fault using another motor；Four
It rotates to four wheel independent controls may be implemented, but structure is complicated, control difficulty is big.
Since installation space and cost limit, often power is smaller for the motor for wire-controlled steering system, the steering provided
Torque is smaller, therefore the passenger car of most of existing wire-controlled steering system axis lighter weight forward is designed.For preceding
The heavier vehicles such as commercial, mining, agricultural of axoplasm amount, then it is general to provide biggish steering moment using providing hydraulic system, but
The disadvantages of hydraulic system is larger there are energy consumption and response speed is not so good as motor.
Summary of the invention
It is directed to the above-mentioned prior art and is difficult to realize the biggish steering moment of steering-by-wire, lower energy consumption, faster sound
The unified problem of fusion for answering the performances such as speed, the purpose of the present invention is to provide a kind of bi-motor line traffic control composite turning system and
Its control method, so as to overcome the problems existing in the prior art.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
A kind of bi-motor line traffic control composite turning system of the invention, comprising: steering wheel, column assy, road feel assembly,
Bi-motor steering actuator, turning control cell；
The steering wheel connects column assy, column assy include: steering column, torsion bar, torque sensor,
Rotary angle transmitter；The active force of steering wheel input acts on torsion bar by steering column, is fixedly mounted respectively on steering column
Torque sensor, rotary angle transmitter；
The road feel assembly includes: road feel motor, third speed probe and worm and gear；Road feel motor output end passes through
The connection of the turbine end of third speed probe and turbine and worm, the worm screw end of worm and gear acts on steering column；Road feel electricity
The active force of machine output successively passes through worm and gear, steering column, is transferred to steering wheel；
The bi-motor steering actuator includes: first motor module, the second motor module, track rod, steering
Trapezoidal, steered wheel；
First motor module includes: the first assist motor, one-way clutch, ball screw, the first speed probe；
First assist motor output end passes sequentially through the nut of the first speed probe, one-way clutch connection ball screw
End；Track rod is interrupted at the screw rod end of ball screw, two port axial directions that screw both end is interrupted with track rod
It is fixedly connected；When one-way clutch engages, the rotary motion of the first assist motor output is converted to through ball screw turns to horizontal drawing
The displacement movement of bar；
Second motor module includes: fuel tank, hydraulic pump, the second assist motor, solenoid directional control valve, hydraulic cylinder, piston, piston
Bar, displacement sensor, the second speed probe；
Piston rod is located in hydraulic cylinder, and piston is fixedly mounted on piston rod, and piston thick stick interrupts track rod, piston rod
Both ends are fixedly connected with the two-port that track rod is interrupted；Displacement sensor is installed on the piston rod, the second revolution speed sensing
Device is mounted on the second assist motor output end；Hydraulic oil is under the effect of the second assist motor, successively from fuel tank, hydraulic pump, electromagnetism
Reversal valve flows through the piston two sides in hydraulic cylinder, and the pressure difference of piston two sides generates axial force, transmits through piston, piston rod
To track rod, the displacement movement of track rod is converted to；
The turning control cell includes: controller, vehicle-state unit；Controller electrically connects with above-mentioned each sensor
It connects, torque, angular signal on acquisition steering column, the tach signal of road feel motor, first and second assist motor turn to horizontal
Pull rod displacement signal；Vehicle-state unit provided for controller speed signal under vehicle's current condition, yaw rate signal,
Lateral acceleration signal.
Further, the track rod and piston rod, ball screw are fixedly connected as an entirety, piston rod and rolling
The displacement of ballscrew is overlapped on track rod, and track rod both ends pass through steering trapezium respectively and connect bogie car
Wheel realizes the steering angle for converting the displacement movement of track rod to steered wheel, completes Vehicular turn movement.
Further, the controller include signal processing unit, turn to decision package, turn to database, diagnosis unit,
Fault alarm unit, electric-motor drive unit and solenoid directional control valve driving unit；Signal processing unit and above-mentioned each sensor are electrical
Connection, obtains the signal that each sensor acquires in real time, and synchronous signal processing unit and above-mentioned vehicle-state unit are electrically connected, obtain
Other status signals of pick-up；Decision package is turned to pass through vehicle mounted communication line receiver signal processing unit respectively, turn to number
According to the input signal in library and diagnosis unit, road feel motor, the first power-assisted electricity are exported by vehicle mounted communication route respectively by calculating
The control signal of machine and the second assist motor, solenoid directional control valve, completes the control process of go to action.
A kind of self-adaptation control method of bi-motor line traffic control composite turning system of the invention is based on above system, packet
Include following steps:
1) vehicle launch, diagnosis unit detection system each section original state, abnormality then passes through steering and determines if it exists
Plan unit triggers fault alarm unit reminds driver's fault message；If system components state is normal, without any prompt；
2) signal that the signal and other state cells of vehicle that each sensor of signal processing unit real-time reception is sent are sent,
Current vehicle condition signal is obtained by calculation, and is transferred to steering decision package；
3) decision package is turned to according to desired vehicle front wheel angle under each vehicle-state stored in steering database
Above-mentioned current vehicle condition signal is carried out with desired driving road feel to turn to decision calculating, obtains the desired vehicle of subsequent time
Front wheel angle, and calculate the corresponding track rod displacement of the desired vehicle front wheel angle of subsequent time and solenoid directional control valve work
Make position；It turns to decision package and also obtains the desired driving road feel of subsequent time simultaneously, and calculate that subsequent time is desired to be driven
Sail the corresponding steering column torque of road feel；
4) solenoid directional control valve driving unit controls work locating for solenoid directional control valve according to the output order for turning to decision package
Make position；Electric-motor drive unit calculates separately road feel motor, the first power-assisted electricity according to the output order for turning to decision package simultaneously
Size of current required for machine, the second assist motor simultaneously drives three motors to work.
Further, the signal of each sensor includes: dtc signal, the first tach signal, second turn in the step 2)
Fast signal, third tach signal, displacement signal, angular signal；The signal of other state cells of vehicle includes: speed signal, cross
Pivot angle speed signal, lateral acceleration signal.
Further, the step 4) specifically includes: lower a period of time that electric-motor drive unit is exported according to decision package is turned to
Carve the instruction of desired vehicle front wheel angle, there are three types of operating modes for tool: the first provides power-assisted for only the first assist motor, and second
Kind provide that power-assisted, the third is the first and second motors while providing power-assisted for only the second assist motor；Diagnosis unit is in vehicle
In driving process, whether detection system is worked normally, if judging normal vehicle operation, uses the third operating mode；If sentencing
Disconnected first motor module failure then triggers fault alarm unit, while using second of operating mode, at this time first motor module
One-way clutch disconnect, track rod displacement be only dependent upon the second assist motor；If judging the second motor module failure,
Fault alarm unit is triggered, while using the first operating mode, solenoid directional control valve is in unloading condition, track rod at this time
Displacement is only dependent upon the first assist motor.
Further, the step 4) is specific further include: and the electromagnetic torque of road feel motor output acts on steering column,
The steering column torque of formation is transferred to steering wheel, provides to driver and drives road feel；The electromagnetism of first assist motor output turns
Square acts on screw rod through first clutch, is converted into the displacement of track rod；The electromagnetic torque of second assist motor output
Hydraulic pump works are driven, so that the piston two sides in hydraulic cylinder is generated pressure difference output axial force, is transmitted through piston, piston rod
To track rod, the displacement of axial drag link is converted to；First assist motor and the second assist motor make track rod
Displacement is overlapped, and is exported to steering trapezium and steered wheel, and the front wheel angle of subsequent time is converted to.
Further, the step 4) is specific further include: generalized minimum variance self-tuning control is used, it can real time correction control
Device parameter processed, the specific steps are as follows:
1) primary data is inputted to controller, reality output weighted polynomial P (z is set-1), desired output weighted polynomial
R(z-1), control amount weighted polynomial Q (z-1)；
2) in vehicle travel process, d is the sampling period, and it is real that displacement sensor samples current time Vehicular turn drag link
Border is displaced yr(k), and the desired track rod displacement y of subsequent time is obtainedr(k+d)；
3) controlled device track rod displacement model meets equation:
A(z-1) y (k)=z-dB(z-1)u(k)+C(z-1)ξ(k)
C(z-1)=A (z-1)E(z-1)+z-dG(z-1)
F(z-1)=B (z-1)E(z-1)
Wherein
In formula, A, B, C, E, F, G are multinomial, and y (k) is the output control amount at k moment, and ξ (k) is variances sigma2White noise
Sound, u (k) are the input control quantity at k moment, solve above-mentioned equation, respectively obtain multinomial coefficient E (z-1), G (z-1), F (z-1):
4) u (k) is the control amount at k moment, is controlled according to generalized minimum variance control rate, control rate are as follows:
Performance indicator Jv are as follows:
Jv=Ev { [{ P (z-1)y(k+d)-R(z-1)yr(k)]2+[Q(z-1)u(k)]2}
Y in formula*(k+d | k) it is that (k+d) the moment optimum prediction of desired Vehicular turn drag link displacement estimates that Ev is to miss
Poor variance function；
5) k=k+1 is enabled, return step 2 continues cycling through control, completes Vehicular turn movement.
The present invention designs a kind of bi-motor line traffic control composite turning system, and first motor for electric boosted, use by the second motor
Hydraulic booster is provided in driving hydraulic pump, the carrying out safety backup of composite turning and hardware, and energy can either be realized by two sets of motors
Rapidity, accuracy, the energy saving for enough combining steering operation can either be used for the passenger car of lighter weight, and can use
In heavy vehicle, practicability with higher.
Beneficial effects of the present invention:
The present invention has merged hydraulic power-assisted steering function compared with existing double-motor steering-by-wire system, can export
Bigger steering moment overcomes the defect that existing double-motor steering-by-wire system is dfficult to apply to heavy goods vehicles；With existing liquid
Pressure steering-by-wire is compared, and electrical power-assisted steering function has been merged, and is turned to more accurate, energy saving.
The present invention has hardware security redundancy feature, the case where first motor or the second motor, which break down, leads to failure
Under, it can be worked independently by any motor, it is ensured that driver grasps the controllability of Vehicular turn function to complete emergency and turn to
Make, improves vehicle safety.
The present invention uses self-adaptation control method, can automatically regulate course changing control parameter according to actual conditions are driven,
The uncertainty in running environment can be preferably resisted, there is preferable robustness, guarantees to turn to the precision executed and vehicle
Safety.
Detailed description of the invention
Fig. 1 is bi-motor line traffic control composite turning system principle structural block diagram of the present invention；
Fig. 2 is control method flow chart of the present invention；
Fig. 3 is generalized minimum variance self-tuning control functional block diagram of the present invention；
In figure, 1- steering wheel, 2- rotary angle transmitter, 3- steering column, 4- torque sensor, 5- worm and gear, 6- torsion bar,
7- controller, 8- solenoid directional control valve, 9- hydraulic pump, the second speed probe of 10-, the second assist motor of 11-, 12- fuel tank, 13-
Displacement sensor, 14- piston rod, 15- piston, 16- hydraulic cylinder, 17- track rod, 18- nut, 19- ball screw, 20-
Steering trapezium, 21- steered wheel, 22- one-way clutch, the first speed probe of 23-, the first assist motor of 24-, 25- vehicle
Other state cells, 26- road feel motor, 27- third speed probe；
N- dtc signal, S- third tach signal, the first tach signal of T-, U- displacement signal, the second tach signal of V-, W-
Angular signal, X- speed signal, H- yaw rate signal, I- lateral acceleration signal, the first assist motor of J- control signal,
The second assist motor of Y- controls signal, L- road feel motor control signal, M- electromagnetic switch valve control signal.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Shown in referring to Fig.1, a kind of bi-motor line traffic control composite turning system of the invention, comprising: steering wheel, steering column are total
At, road feel assembly, bi-motor steering actuator, turning control cell；
The steering wheel connects column assy, and column assy includes: steering column 3, torsion bar 6, torque sensing
Device 4, rotary angle transmitter 2；The active force that steering wheel 1 inputs acts on torsion bar 6 by steering column 3, on steering column 3 respectively
Torque sensor 4, rotary angle transmitter 2 is fixedly mounted；
The road feel assembly includes: road feel motor 26, third speed probe 27 and worm and gear 5；Road feel motor 26 is defeated
Outlet is connect by third speed probe 27 with the turbine end of turbine and worm 5, and the worm screw end of worm and gear 5 acts on steering tube
On column 3；The active force that road feel motor 26 exports successively passes through worm and gear 5, steering column 3, is transferred to steering wheel 1；
The bi-motor steering actuator includes: first motor module, the second motor module, track rod 17, turns
To trapezoidal 20, steered wheel 21；
First motor module includes: the first assist motor 24, one-way clutch 22, ball screw 19, the first revolution speed sensing
Device 23；
First assist motor, 24 output end passes sequentially through the first speed probe 23, one-way clutch 22 connects ball screw
19 nut end；Track rod 17 is interrupted at the screw rod end of ball screw, what screw both end was interrupted with track rod 17
Two port axial restraint connections；When one-way clutch 22 engages, the rotary motion of the first assist motor 24 output is through ball wire
Bar 19 is converted to the displacement movement of track rod 17；
Second motor module includes: fuel tank 12, hydraulic pump 9, the second assist motor 11, solenoid directional control valve 8, hydraulic cylinder 16,
Piston 15, piston rod 14, displacement sensor 13, the second speed probe 10；
Piston rod 14 is located in hydraulic cylinder 16, and piston 15 is fixedly mounted on piston rod 14, and piston thick stick 14 is by track rod
17 interrupt, and 14 both ends of piston rod are fixedly connected with the two-port that track rod 17 is interrupted；Displacement sensor 13 is mounted on work
On stopper rod 14, the second speed probe 10 is mounted on 11 output end of the second assist motor；Hydraulic oil is acted in the second assist motor
Under, successively 15 two sides of piston in hydraulic cylinder 16, the pressure of 15 two sides of piston are flowed through from fuel tank 12, hydraulic pump 9, solenoid directional control valve 8
Power difference generates axial force, is transferred to track rod 17 through piston 15, piston rod 14, is converted to the displacement of track rod
Movement；
The turning control cell includes: controller 7, vehicle other state cells 25；Controller 7 and above-mentioned each sensor
It is electrically connected, torque, angular signal on acquisition steering column 3, the revolving speed letter of road feel motor, first and second assist motor
Number, track rod displacement signal；Other state cells 25 of vehicle are that controller 7 provides the letter of the speed under vehicle's current condition
Number, yaw rate signal, lateral acceleration signal.
Wherein, the track rod 17 is fixedly connected as an entirety, piston rod 14 with piston rod 14, ball screw 19
Displacement with ball screw 19 is overlapped on track rod, and 17 both ends of track rod pass through steering trapezium 20 respectively and connect
Steered wheel 21 is connect, realizes the steering angle for converting the displacement movement of track rod to steered wheel, it is dynamic to complete Vehicular turn
Make.
The controller 7 includes signal processing unit, turns to decision package, turns to database, diagnosis unit, fault alarm
Unit, electric-motor drive unit and solenoid directional control valve driving unit；Signal processing unit and above-mentioned each sensor are electrically connected, and are obtained
The signal that each sensor acquires in real time, synchronous signal processing unit and other state cells 25 of above-mentioned vehicle are electrically connected, and are obtained
Other status signals of vehicle；Decision package is turned to pass through vehicle mounted communication line receiver signal processing unit respectively, turn to data
Driving signal is transferred to motor driven list by vehicle mounted communication route respectively by calculating by the input signal in library and diagnosis unit
Member and solenoid directional control valve driving unit；Electric-motor drive unit exports road feel motor control signal L, the control of the first assist motor respectively
Signal J and the second assist motor control signal Y, and above three motor is made to execute the output of electromagnetic torque respectively；Solenoid directional control valve
Driving unit exports electromagnetic switch valve control signal M, and solenoid directional control valve is made to execute the conversion of operating position；Second assist motor
Electromagnetic torque is converted into hydraulic cylinder output displacement, and the electromagnetism with the second assist motor under corresponding solenoid directional control valve operating position
The lead screw output displacement that torque generates is transferred to track rod jointly, completes the control process of go to action.
Referring to shown in Fig. 2, a kind of self-adaptation control method of bi-motor line traffic control composite turning system of the invention is based on
Above system, comprising the following steps:
1) vehicle launch, diagnosis unit detection system each section original state, abnormality then passes through steering and determines if it exists
Plan unit triggers fault alarm unit reminds driver's fault message；If system components state is normal, without any prompt；
2) signal that the signal and other state cells of vehicle that each sensor of signal processing unit real-time reception is sent are sent,
Current vehicle condition signal is obtained by calculation, and is transferred to steering decision package；
3) decision package is turned to according to desired vehicle front wheel angle under each vehicle-state stored in steering database
Above-mentioned current vehicle condition signal is carried out with desired driving road feel to turn to decision calculating, obtains the desired vehicle of subsequent time
Front wheel angle, and calculate the corresponding track rod displacement of the desired vehicle front wheel angle of subsequent time and solenoid directional control valve work
Make position；It turns to decision package and also obtains the desired driving road feel of subsequent time simultaneously, and calculate that subsequent time is desired to be driven
Sail the corresponding steering column torque of road feel；
4) solenoid directional control valve driving unit controls work locating for solenoid directional control valve according to the output order for turning to decision package
Make position；Electric-motor drive unit calculates separately road feel motor, the first power-assisted electricity according to the output order for turning to decision package simultaneously
Size of current required for machine, the second assist motor simultaneously drives three motors to work.
Wherein, the signal of each sensor includes: dtc signal N, the first tach signal T, the second revolving speed in the step 2)
Signal V, third tach signal S, displacement signal U, angular signal W, the signal of other state cells of vehicle include: speed signal X,
Yaw rate signal H, lateral acceleration signal I.
Wherein, the step 4) specifically includes: the subsequent time phase that electric-motor drive unit is exported according to decision package is turned to
The vehicle front wheel angle of prestige instructs, and there are three types of operating modes for tool: the first provides power-assisted for only the first assist motor, is for second
Only the second assist motor provide power-assisted, the third for the first and second motors provide power-assisted simultaneously；Diagnosis unit is in vehicle driving
In the process, whether detection system works normally, if judging normal vehicle operation, uses the third operating mode；If judging
One motor module failure then triggers fault alarm unit, while using second of operating mode, at this time the list of first motor module
It is disconnected to clutch, track rod displacement is only dependent upon the second assist motor；If judging the second motor module failure, trigger
Fault alarm unit, while the first operating mode is used, solenoid directional control valve is in unloading condition, track rod displacement at this time
It is only dependent upon the first assist motor.
Wherein, the step 4) is specific further include: the electromagnetic torque of road feel motor output acts on steering column, is formed
Steering column torque be transferred to steering wheel, give driver provide drive road feel；The electromagnetic torque warp of first assist motor output
First clutch acts on screw rod, is converted into the displacement of track rod；The electromagnetic torque driving of second assist motor output
Hydraulic pump works make the piston two sides in hydraulic cylinder generate pressure difference output axial force, are transferred to and turn through piston, piston rod
To drag link, the displacement of axial drag link is converted to；What the first assist motor and the second assist motor acted on track rod
Displacement is overlapped, and is exported to steering trapezium and steered wheel, and the front wheel angle of subsequent time is converted to.
Wherein, the step 4) is specific further include: generalized minimum variance self-tuning control is used, it can real time correction controller
Parameter, specific step is as follows
1. inputting primary data to controller, reality output weighted polynomial P (z is set-1), desired output weighted polynomial
R(z-1), control amount weighted polynomial Q (z-1)；
2. d is the sampling period, and it is real that displacement sensor samples current time Vehicular turn drag link in vehicle travel process
Border is displaced yr(k), and the desired track rod displacement y of subsequent time is obtainedr(k+d)；
3. controlled device track rod displacement model meets equation:
A(z-1) y (k)=z-dB(z-1)u(k)+C(z-1)ξ(k)
C(z-1)=A (z-1)E(z-1)+z-dG(z-1)
F(z-1)=B (z-1)E(z-1)
Wherein
In formula, A, B, C, E, F, G are multinomial, and y (k) is the output control amount at k moment, and ξ (k) is variances sigma2White noise
Sound, u (k) are the input control quantity at k moment, solve above-mentioned equation, respectively obtain multinomial coefficient E (z-1), G (z-1), F (z-1):
4.u (k) is the control amount at k moment, is controlled according to generalized minimum variance control rate, control rate are as follows:
Performance indicator Jv are as follows:
Jv=Ev { [{ P (z-1)y(k+d)-R(z-1)yr(k)]2+[Q(z-1)u(k)]2}
Y in formula*(k+d | k) it is that (k+d) the moment optimum prediction of desired Vehicular turn drag link displacement estimates that Ev is to miss
Poor variance function；
5. enabling k=k+1, return step 2 continues cycling through control, completes Vehicular turn movement.
The present invention designs a kind of bi-motor line traffic control composite turning system, and first motor for electric boosted, use by the second motor
Hydraulic booster is provided in driving hydraulic pump, the carrying out safety backup of composite turning and hardware, and energy can either be realized by two sets of motors
Rapidity, accuracy, the energy saving for enough combining steering operation can either be used for the passenger car of lighter weight, and can use
In heavy vehicle, practicability with higher.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of bi-motor line traffic control composite turning system characterized by comprising steering wheel, column assy, road feel are total
At, bi-motor steering actuator, turning control cell；
The steering wheel connects column assy, and column assy includes: steering column, torsion bar, torque sensor, corner
Sensor；The active force of steering wheel input acts on torsion bar by steering column, and torque is fixedly mounted on steering column respectively
Sensor, rotary angle transmitter；
The road feel assembly includes: road feel motor, third speed probe and worm and gear；Road feel motor output end passes through third
The connection of the turbine end of speed probe and turbine and worm, the worm screw end of worm and gear acts on steering column；Road feel motor is defeated
Active force out successively passes through worm and gear, steering column, is transferred to steering wheel；
The bi-motor steering actuator include: first motor module, the second motor module, track rod, steering trapezium,
Steered wheel；
First motor module includes: the first assist motor, one-way clutch, ball screw, the first speed probe；
First assist motor output end passes sequentially through the nut end of the first speed probe, one-way clutch connection ball screw；
Track rod is interrupted at the screw rod end of ball screw, two port axial restraints that screw both end is interrupted with track rod
Connection；When one-way clutch engages, the rotary motion of the first assist motor output is converted to track rod through ball screw
Displacement movement；
Second motor module includes: fuel tank, hydraulic pump, the second assist motor, solenoid directional control valve, hydraulic cylinder, piston, piston rod,
Displacement sensor, the second speed probe；
Piston rod is located in hydraulic cylinder, and piston is fixedly mounted on piston rod, and piston thick stick interrupts track rod, piston rod both ends
It is fixedly connected with the two-port that track rod is interrupted；Displacement sensor is installed on the piston rod, the second speed probe peace
Mounted in the second assist motor output end；Hydraulic oil is under the effect of the second assist motor, successively from fuel tank, hydraulic pump, electromagnetic switch
Valve flows through the piston two sides in hydraulic cylinder, and the pressure difference of piston two sides generates axial force, is transferred to and turns through piston, piston rod
To drag link, the displacement movement of track rod is converted to；
The turning control cell includes: controller, vehicle-state unit；Controller and above-mentioned each sensor are electrically connected, and are obtained
Take torque on steering column, angular signal, the tach signal of road feel motor, first and second assist motor, track rod
Displacement signal；Vehicle-state unit provides speed signal under vehicle's current condition, yaw rate signal, lateral for controller
Acceleration signal.
2. the bi-motor line traffic control composite turning system stated according to claim 1, which is characterized in that the track rod and piston
Bar, ball screw are fixedly connected as an entirety, and the displacement of piston rod and ball screw is overlapped on track rod, turn
Steered wheel is connected by steering trapezium respectively to drag link both ends, realizes and converts steering for the displacement movement of track rod
The steering angle of wheel completes Vehicular turn movement.
3. the bi-motor line traffic control composite turning system stated according to claim 1, which is characterized in that the controller includes at signal
Unit is managed, decision package is turned to, turns to database, diagnosis unit, fault alarm unit, electric-motor drive unit and solenoid directional control valve
Driving unit；Signal processing unit and above-mentioned each sensor are electrically connected, and are obtained the signal that each sensor acquires in real time, are believed simultaneously
Number processing unit and above-mentioned vehicle-state unit are electrically connected, and obtain other status signals of vehicle；Turn to decision package difference
By the input signal of vehicle mounted communication line receiver signal processing unit, steering database and diagnosis unit, pass through by calculating
Vehicle mounted communication route exports the control signal of road feel motor, the first assist motor and the second assist motor, solenoid directional control valve respectively,
Complete the control process of go to action.
4. a kind of self-adaptation control method of bi-motor line traffic control composite turning system, which is characterized in that be based on the claims 3
The system, comprising the following steps:
1) vehicle launch, diagnosis unit detection system each section original state, abnormality, which then passes through, if it exists turns to decision list
Member triggering fault alarm unit, reminds driver's fault message；If system components state is normal, without any prompt；
2) signal that the signal and other state cells of vehicle that each sensor of signal processing unit real-time reception is sent are sent, passes through
Current vehicle condition signal is calculated, and is transferred to steering decision package；
3) decision package is turned to according to desired vehicle front wheel angle and phase under each vehicle-state stored in steering database
The driving road feel of prestige carries out above-mentioned current vehicle condition signal to turn to decision calculating, obtains the desired vehicle front-wheel of subsequent time
Corner, and calculate the corresponding track rod displacement of the desired vehicle front wheel angle of subsequent time and solenoid directional control valve working position
It sets；It turns to decision package and also obtains the desired driving road feel of subsequent time simultaneously, and calculate the desired driving road of subsequent time
Feel corresponding steering column torque；
4) solenoid directional control valve driving unit controls working position locating for solenoid directional control valve according to the output order for turning to decision package
It sets；Simultaneously electric-motor drive unit according to turn to decision package output order, calculate separately road feel motor, the first assist motor,
Size of current required for second assist motor simultaneously drives three motors to work.
5. according to the self-adaptation control method for the bi-motor line traffic control composite turning system that claim 4 is stated, which is characterized in that described
The signal of each sensor includes: dtc signal, the first tach signal, the second tach signal, third tach signal, position in step 2)
Shifting signal, angular signal；The signal of other state cells of vehicle includes: speed signal, yaw rate signal, side acceleration
Signal.
6. according to the self-adaptation control method for the bi-motor line traffic control composite turning system that claim 4 is stated, which is characterized in that described
Step 4) specifically includes: electric-motor drive unit refers to according to the desired vehicle front wheel angle of subsequent time that decision package exports is turned to
It enables, tool is there are three types of operating mode: the first provides power-assisted for only the first assist motor, provides for only the second assist motor for second
Power-assisted, the third for the first and second motors provide power-assisted simultaneously；Diagnosis unit is in vehicle travel process, and whether detection system
It works normally, if judging normal vehicle operation, uses the third operating mode；If judging first motor module failure, touch
Fault alarm unit is sent out, while using second of operating mode, the one-way clutch of first motor module disconnects at this time, turns to horizontal
Pull rod displacement is only dependent upon the second assist motor；If judging the second motor module failure, fault alarm unit is triggered, is adopted simultaneously
With the first operating mode, solenoid directional control valve is in unloading condition at this time, and track rod displacement is only dependent upon the first power-assisted electricity
Machine.
7. according to the self-adaptation control method for the bi-motor line traffic control composite turning system that claim 4 is stated, which is characterized in that described
Step 4) is specific further include: the electromagnetic torque of road feel motor output acts on steering column, and the steering column torque of formation passes
It is handed to steering wheel, is provided to driver and drives road feel；The electromagnetic torque of first assist motor output is acted on through first clutch
On screw rod, it is converted into the displacement of track rod；The electromagnetic torque of second assist motor output drives hydraulic pump works, makes hydraulic
Piston two sides in cylinder generate pressure difference and export axial force, are transferred to track rod through piston, piston rod, are converted to axis
Displacement to drag link；The displacement that first assist motor and the second assist motor act on track rod is overlapped, and to
Steering trapezium and steered wheel output, are converted to the front wheel angle of subsequent time.
8. according to the self-adaptation control method for the bi-motor line traffic control composite turning system that claim 4 is stated, which is characterized in that described
Step 4) is specific further include: uses generalized minimum variance self-tuning control, energy real time correction controller parameter, specific steps are such as
Under:
1) primary data is inputted to controller, reality output weighted polynomial P (z is set-1), desired output weighted polynomial R (z-1), control amount weighted polynomial Q (z-1)；
2) in vehicle travel process, d is the sampling period, and displacement sensor samples current time Vehicular turn drag link actual bit
Move yr(k), and the desired track rod displacement y of subsequent time is obtainedr(k+d)；
3) controlled device track rod displacement model meets equation:
A(z-1) y (k)=z-dB(z-1)u(k)+C(z-1)ξ(k)
C(z-1)=A (z-1)E(z-1)+z-dG(z-1)
F(z-1)=B (z-1)E(z-1)
Wherein
In formula, A, B, C, E, F, G are multinomial, and y (k) is the output control amount at k moment, and ξ (k) is variances sigma2White noise, u (k)
For the input control quantity at k moment, above-mentioned equation is solved, respectively obtains multinomial coefficient E (z-1), G (z-1), F (z-1):
4) u (k) is the control amount at k moment, is controlled according to generalized minimum variance control rate, control rate are as follows:
Performance indicator Jv are as follows:
Jv=Ev { [{ P (z-1)y(k+d)-R(z-1)yr(k)]2+[Q(z-1)u(k)]2}
Y in formula*(k+d | k) it is that (k+d) the moment optimum prediction of desired Vehicular turn drag link displacement estimates that Ev is error side
Difference function；
5) k=k+1 is enabled, return step 2 continues cycling through control, completes Vehicular turn movement.
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| PCT/CN2019/116092 WO2020108260A1 (en) | 2018-12-01 | 2019-11-06 | Dual-motor wire-controlled composite steering system and control method therefor |
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