CN112249152B - Electric power steering system of large commercial vehicle and control method thereof - Google Patents
Electric power steering system of large commercial vehicle and control method thereof Download PDFInfo
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- CN112249152B CN112249152B CN202011287232.1A CN202011287232A CN112249152B CN 112249152 B CN112249152 B CN 112249152B CN 202011287232 A CN202011287232 A CN 202011287232A CN 112249152 B CN112249152 B CN 112249152B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000004148 unit process Methods 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 4
- 239000000428 dust Substances 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 7
- 239000003921 oil Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000003912 environmental pollution Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
- B62D3/08—Steering gears mechanical of worm type with screw and nut using intermediate balls or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
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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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses an electric power steering system of a large commercial vehicle, which comprises a steering transmission shaft, a steering knuckle arm, a telescopic electric power steering device and a steering electronic control unit, wherein the telescopic electric power steering device comprises an input shaft connected with the steering transmission shaft, a steering large gear connected with the input shaft, a steering small gear meshed with the steering large gear, a power-assisted motor, a power-assisted small gear connected with the power-assisted motor, a power-assisted large gear meshed with the power-assisted small gear and coaxially connected with the steering small gear, a ball screw mechanism connected with the power-assisted large gear and a steering outer pull rod connected with the ball screw mechanism and connected with the steering knuckle arm. The electric power steering system of the large commercial vehicle has high integration level, is convenient to arrange, and does not need complex oil ways and oil way accessories to be assembled; the steering function requirements of auxiliary driving and automatic driving can be met. The invention also discloses a control method of the electric power steering system of the large commercial vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle steering systems, and particularly relates to an electric power steering system of a large commercial vehicle and a control method thereof.
Background
The electric power steering system of the new energy bus is the development direction of the electric power and hydrogen energy urban buses and highway buses steering system, and is a steering executing part capable of realizing the full automatic driving and advanced driving auxiliary functions of the vehicle, such as the vehicle queuing driving, the lane keeping function, the lane changing auxiliary function and the like. The electric power steering system of the new energy bus can be applied to new energy city buses and highway buses with the steering single-axis load not more than 7500 kgf.
The existing new energy bus steering system is basically a hydraulic power steering system or an electric hydraulic power steering system, the two steering systems are difficult to arrange and install, and the later maintenance cost is high because hydraulic oil is required to be used to cause certain environmental pollution. In addition, the two hydraulic steering systems cannot fully meet the steering function requirements of auxiliary driving or automatic driving.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an electric power steering system of a large commercial vehicle, and aims to realize the functions of full automatic driving and advanced driving assistance of the vehicle.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the electric power steering system of the large commercial vehicle comprises a steering transmission shaft, a steering knuckle arm and a telescopic electric power steering device, wherein the telescopic electric power steering device comprises an input shaft connected with the steering transmission shaft, a steering gear wheel connected with the input shaft, a steering pinion meshed with the steering gear wheel, a power-assisted motor, a power-assisted pinion connected with the power-assisted motor, a power-assisted gear wheel meshed with the power-assisted pinion and coaxially connected with the steering pinion, a ball screw mechanism connected with the power-assisted gear wheel and a steering external pull rod connected with the ball screw mechanism and connected with the steering knuckle arm.
The telescopic electric power steering device further comprises a shell component, the power assisting motor is arranged on the shell component, and the ball screw mechanism, the steering large gear, the steering small gear, the power assisting small gear and the power assisting large gear are located in the shell component.
The ball screw mechanism comprises a screw rod connected with the steering large gear, a nut matched with the screw rod, a telescopic rod connected with the nut and a guide rod for guiding the nut, and the telescopic rod is connected with the steering outer pull rod through a joint bearing.
The guide rods are arranged in two, two oilless shaft sleeves are arranged on the nut, and each guide rod penetrates through one oilless shaft sleeve respectively.
The invention also provides a control method of the electric power steering system of the large commercial vehicle, which comprises the following steps in a normal driving mode:
s11, after the vehicle is ignited, the steering electronic control unit is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s12, when a driver turns a steering wheel, transmitting steering torque to a telescopic electric power steering device through a steering column and a steering transmission shaft, and collecting and transmitting the turning torque and turning direction acting on the steering wheel and steering wheel turning angle signals to a steering electronic control unit by a torque angle sensor;
s13, the steering electronic control unit processes the vehicle speed signal, the rotating moment and rotating direction signals on the steering wheel and the rotating angle signals of the steering wheel and then outputs current and rotating direction signals to the power-assisted motor;
and S14, the input shaft rotates, the power-assisted motor simultaneously runs, the telescopic rod moves linearly, and the telescopic rod drives the wheels to steer through the knuckle arm and the steering tie rod.
The invention also provides a control method of the electric power steering system of the large commercial vehicle, which comprises the following steps in an intelligent driving mode:
s21, after the vehicle is ignited, the steering electronic control unit is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s22, the whole vehicle controller sends a steering control signal to the steering electronic control unit;
s23, after the steering control signal is processed by the steering electronic control unit, outputting a current and a rotating direction signal to the power-assisted motor;
and S24, the power-assisted motor runs, the telescopic rod moves linearly, and the telescopic rod drives the wheels to steer through the knuckle arm and the steering tie rod.
The electric power steering system of the large commercial vehicle has the advantages of small number of parts, low cost, high integration level, convenient arrangement and no complex oil way and oil way accessories to be assembled; the hydraulic oil way is not provided, the oil leakage problem is avoided, and the environmental pollution is avoided; the steering function requirements of auxiliary driving and automatic driving can be met.
Drawings
The present specification includes the following drawings, the contents of which are respectively:
FIG. 1 is a schematic diagram of the electric power steering system of a large commercial vehicle of the present invention;
FIG. 2 is a schematic diagram of the electric power steering system of the present invention for a large commercial vehicle operating in a normal driving mode;
FIG. 3 is a schematic diagram of the electric power steering system of the present invention for a large commercial vehicle operating in an intelligent driving mode;
FIG. 4 is a schematic diagram of the operation of the electric power steering system of the present invention in a right turn of a steering wheel for a large commercial vehicle;
FIG. 5 is a schematic diagram of the operation of the electric power steering system of the present invention in a left turn steering wheel for a large commercial vehicle;
fig. 6 is a schematic structural view of a telescopic electric power steering apparatus;
fig. 7 is a schematic view of an internal structure of the telescopic electric power steering apparatus;
FIG. 8 is a schematic illustration of the engagement of the nut with the guide rod;
fig. 9 is a schematic structural view of the reduction mechanism;
FIG. 10 is a cross-sectional view of a knuckle bearing;
marked in the figure as: 1. a steering wheel; 2. a steering column; 3. a steering drive shaft; 4. a steering electronic control unit; 5. a telescopic electric power steering apparatus; 501. a booster motor; 502. a telescopic rod; 503. a steering outer tie rod; 504. steering big gear; 505. a steering pinion; 506. a booster pinion; 507. a booster gearwheel; 508. a first housing; 509. a second housing; 510. a housing connection tube; 511. a screw rod; 512. a nut; 513. an oilless sleeve; 514. a guide rod; 515. a connecting rod; 516. a spherical outer ring; 517. a spherical inner ring; 518. a gasket; 519. a dust cover; 520. a bolt; 521. a lock nut; 522. an input shaft; 6. steering knuckle arm; 7. a tie rod; 8. and (3) a wheel.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
It should be noted that, in the following embodiments, the "first" and "second" do not represent an absolute distinction between structures and/or functions, and do not represent a sequential order of execution, but are merely for convenience of description.
As shown in fig. 1 to 10, the present invention provides an electric power steering system for a large commercial vehicle, comprising a steering wheel 1, a steering column 2, a steering drive shaft 3, a knuckle arm 6, and a telescopic electric power steering apparatus 5, the telescopic electric power steering apparatus 5 comprising a torque angle sensor, an input shaft 522 connected to the steering drive shaft 3, a steering large gear 504 connected to the input shaft 522, a steering pinion 505 meshed with the steering large gear 504, a booster motor 501, a booster pinion 506 connected to the booster motor 501, a booster pinion 507 meshed with the booster pinion 506 and coaxially connected to the steering pinion 505, a ball screw mechanism connected to the booster pinion 507, and a tie rod 503 connected to the ball screw mechanism and connected to the knuckle arm 6, the tie rod 503 being rotatably connected to one of the knuckle arms 6 of the wheels, the knuckles of the two wheels being rotatably connected to a tie rod 7, the tie rod 7 causing the two wheels to be synchronously steered.
Specifically, as shown in fig. 1 to 7 and 9, the upper end of the steering column 2 is fixedly connected to the steering wheel 1, the lower end of the steering column 2 is fixedly connected to the upper end of the steering transmission shaft 3, the lower end of the steering transmission shaft 3 is fixedly connected to the input shaft 522, the steering large gear 504 is coaxially and fixedly connected to the input shaft 522, and the torque angle sensor is provided on the input shaft 522. The steering pinion 505 is meshed with the steering large gear 504 to constitute a speed increasing mechanism, and the diameter of the steering pinion 505 is smaller than the diameter of the steering large gear 504. The steering pinion 505 is fixedly connected with the power-assisted large gear 507 in a coaxial way, the power-assisted pinion 506 is meshed with the power-assisted large gear 507 to form a speed reducing mechanism, the diameter of the power-assisted pinion 506 is smaller than that of the power-assisted large gear 507, the power-assisted pinion 506 is fixedly connected with a motor shaft of the power-assisted motor 501, and the axis of the power-assisted pinion 506 is vertical to the axis of the input shaft 522 in space. The telescopic electric power steering apparatus 5 further includes a housing assembly on which the power assist motor 501 is disposed, and the ball screw mechanism, the steering gearwheel 504, the steering pinion 505, the power assist pinion 506, and the power assist gearwheel 507 are located inside the housing assembly. The housing assembly includes a first housing 508, a second housing 509, and a housing connection tube 510, the housing connection tube 510 having a hollow housing structure having a certain length, the first housing 508 and the second housing 509 being fixedly connected to opposite ends of the housing connection tube 510 in a length direction, respectively. The booster motor 501 is fixedly connected with the first housing 508, the input shaft 522 is rotatably arranged on the first housing 508, the steering gear wheel 504, the steering pinion 505, the booster pinion 506 and the booster gear wheel 507 are positioned in the first housing 508, the telescopic rod 502 passes through the second housing 509, one end of the telescopic rod 502 is positioned in the housing connecting pipe 510, and the other end of the telescopic rod 502 is positioned outside the second housing 509. The steering and power-assisted functions are respectively realized by adopting two pairs of gear pairs, and the steering pinion 505, the steering gear wheel 504, the power-assisted pinion 506 and the power-assisted gear wheel 507 are hyperboloid gears, so that the structure is compact, the rigidity of the gears is high, the transmission is stable, and the relative gear size is small and the weight is light.
As shown in fig. 1 to 8, the ball screw mechanism includes a screw shaft 511 connected to the steering gear wheel 504, a nut 512 fitted to the screw shaft 511, a telescopic rod 502 connected to the nut 512, and a guide rod 514 guiding the nut 512, and the telescopic rod 502 is connected to the tie rod 503 through a joint bearing. The shell connecting pipe 510 is a cylinder, the lead screw 511 and the shell connecting pipe 510 are coaxially arranged, the lead screw 511 is rotatably arranged in the shell connecting pipe 510, the lead screw 511 and the steering gear 504 are coaxially and fixedly connected, the lead screw 511 and the nut 512 form screw transmission, the nut 512 is positioned in the shell connecting pipe 510, the nut 512 is fixedly connected with one end of the telescopic rod 502, the telescopic rod 502 is a cylinder, and the telescopic rod 502, the lead screw 511 and the nut 512 are coaxially arranged. After the screw rod 511 rotates, the nut 512 drives the telescopic rod 502 to synchronously move along the axial direction, and the telescopic rod 502 drives the knuckle arm 6 to rotate through the steering outer pull rod 503, so that the deflection of wheels is realized, and the steering of the vehicle is further realized.
Steering function: as shown in fig. 4, when the driver steers the steering wheel 1 to the right, the input shaft 522 is driven to rotate clockwise, the steering large gear 504 connected with the input shaft 522 rotates clockwise, the steering small gear 505 is driven to rotate counterclockwise through gear engagement, and the steering small gear 505 is connected with the lead screw 511 into a whole, so that the lead screw 511 is driven to rotate counterclockwise, the nut 512 and the telescopic rod 502 are shortened inwards, and the wheels are driven to rotate to the right; as shown in fig. 5, when the driver steers the steering wheel 1 to the left, the input shaft 522 is driven to rotate counterclockwise, the steering gear wheel 504 integrally connected with the input shaft 522 is driven to rotate counterclockwise, the steering pinion 505 is driven to rotate clockwise through gear engagement, and the steering pinion 505 is integrally connected with the ball screw 511, so that the screw 511 is driven to rotate clockwise and the nut 512 is extended outward with the telescopic rod 502, thereby driving the wheel to rotate to the left.
The number of turns of the steering wheel 1 can be adjusted by setting the gear ratio of the steering gear pair so as to adapt to the requirements of different vehicles on the number of turns of the steering wheel 1, and the larger the gear ratio is, the smaller the number of turns of the steering wheel 1 is, whereas the smaller the gear ratio is, the more the number of turns of the steering wheel 1 is. The steering gear pair is speed-increasing and torque-reducing, so that when the steering torque of the steering wheel 1 is operated by a driver and passes through the gear pair, the torque given to the steering pinion 505 is reduced according to the gear ratio, and the gear pair is small in stress, long in service life, reliable and durable.
Boosting function: as shown in fig. 4, when the driver steers the steering wheel 1 to the right, the input shaft 522 is driven to rotate clockwise, the torque angle sensor welded with the input shaft 522 sends the acquired steering force and steering angle signal to the steering electronic control unit 4 (ECU), after the steering electronic control unit 4 (ECU) processes and computes the signal, the power-assisted motor 501 and the power-assisted pinion 506 rotate clockwise, the power-assisted big gear 507 is driven to rotate anticlockwise through gear engagement, and the power-assisted big gear 507 is also connected with the screw 511 into a whole, so that the screw 511 is driven to rotate anticlockwise, the nut 512 and the telescopic rod 502 are shortened inwards, and the wheels are driven to rotate to the right; as shown in fig. 5, when the driver steers the steering wheel 1 to the left, the input shaft 522 is driven to rotate anticlockwise, the torque angle sensor welded with the input shaft 522 transmits the acquired steering force and steering angle signal to the steering electronic control unit 4 (ECU), the steering electronic control unit 4 (ECU) processes and computes the signal, and the assist motor 501 and the assist pinion 506 rotate anticlockwise, and the assist pinion 507 is driven to rotate clockwise through gear engagement, so that the assist pinion 507 is also connected with the screw 511 integrally, and the screw 511 is driven to rotate clockwise, and the nut 512 and the telescopic rod 502 are extended outwards, so that the wheel is pushed to rotate leftwards.
The magnitude of the output torque can be changed by setting the gear ratio of the steering gear pair so as to adapt to the requirements of the steering torque of the tires of vehicles with different loads, and the larger the gear ratio is, the larger the output torque is, whereas the smaller the gear ratio is, the smaller the output torque is. The power-assisted gear pair is used for reducing speed and increasing torque, and the steering driving moment of the vehicle tyre is basically provided by the motor through the power-assisted gear pair so as to reduce steering burden of a driver.
As shown in fig. 8, the guide rods 514 are located inside the housing connection tube 510, the axes of the guide rods 514 are parallel to the axis of the screw shaft 511, two guide rods 514 are provided, and an included angle between the two guide rods 514 is 180 degrees. The nut 512 is prevented from rotating in the circumferential direction by the two guide rods 514 when the nut 512 is linearly reciprocated. Two oilless bushings 513 are provided on the nut 512, and each guide rod 514 passes through one oilless bushing 513. The flange surface of the nut 512 is provided with two circular through holes, each oilless shaft sleeve 513 is respectively installed in one circular through hole on the nut 512, the oilless shaft sleeve 513 is made of three layers of composite materials, and two guide rods 514 respectively penetrate through the center holes of the two oilless shaft sleeves 513. The oilless shaft sleeve 513 is in small clearance fit with the guide rods 514, two ends of the guide rods 514 are fixed, and when the screw rod is subjected to rotation moment, the two guide rods 514 restrain the moment in the circumferential direction of the nut 512. The outer circumferential surface of the guide rod 514 is chrome-plated and polished after hardening to ensure that the guide rod 514 has a high rigidity and a smooth surface to satisfy the condition that the guide rod 514 is maintained to have substantially no bending deformation in a linear motion and the friction coefficient of the oilless bushing 513 is low to ensure smooth movement of the nut 512.
As shown in fig. 6, 7 and 9, the knuckle bearing is coupled to the tie rod 503 by a fastener composed of a bolt 520 and a lock nut 521, and includes a connecting rod 515 coupled to the telescopic rod 502, a spherical outer ring 516 coupled to the connecting rod 515, a spherical inner ring 517 disposed in a center hole of the spherical outer ring 516, washers 518 disposed at opposite ends of the spherical inner ring 517, and a dust cover 519 disposed between the spherical outer ring 516 and the tie rod 503, the tie rod 503 is coupled to the spherical inner ring 517 by a bolt 520, and the bolt 520 passes through the washers 518 and the spherical inner ring 517. The tie rod has 503 a receiving groove for receiving the knuckle bearing, the receiving groove is a U-shaped groove, the dust covers 519 are provided in two, the spherical outer ring 516 is located between the two dust covers 519 and the two dust covers 519 are respectively in contact with two opposite inner wall surfaces of the receiving groove. One end of the connecting rod 515 is fixedly connected with the end part of the telescopic rod 502, the spherical outer ring 516 is fixedly connected with the other end of the connecting rod 515, the outer spherical surface of the spherical inner ring 517 is contacted with the inner circular surface of the spherical outer ring 516, the spherical center of the spherical outer ring 516 and the spherical center of the spherical inner ring 517 are the same point, and the spherical outer ring 516 and the spherical inner ring 517 can rotate relatively. The end of the tie rod 503 has a through hole for the bolt 520 to pass through, a center hole for the bolt 520 to pass through is provided in the center of the washer 518, the washer 518 is sandwiched between the spherical inner race 517 and the inner wall surface of the accommodation groove, and the washer 518 and the spherical inner race 517 are coaxially provided. When the push-pull rod drives the connecting rod 515 and the spherical outer ring 516 to perform linear motion, push-pull force is transmitted to the gasket 518 through the spherical inner ring 517, push-pull force is transmitted to the bolt 520 through the gasket 518, and push-pull force is transmitted to the steering outer pull rod 503 through the bolt 520. The tie rod 503 is not only linearly reciprocated during the steering of the vehicle, but also is moved to swing around the center of the spherical inner race 517 of the knuckle bearing, and thus the knuckle bearing is provided for connection.
As shown in fig. 9, washers 518 are press-fitted to both ends of the spherical inner race 517 of the knuckle bearing, and a dust cover 519 is respectively fitted to the washers 518. The large end of the tie rod 503 is formed with a U-shaped groove and a circular through-hole is formed, through which a bolt 520 is passed and simultaneously passed through the spherical inner race 517 of the knuckle bearing, and then tightened with a nut. The washer 518 of the knuckle bearing is mainly used for bearing the shearing force in the moving direction, and meanwhile, because of the increase of the height of the washer 518, the deflection angle of the tie rod 503 is increased, and the deflection stroke is correspondingly increased. The washer 518 is provided with a dust cover 519, the dust cover 519 is of a circular ring structure, the dust cover 519 and the washer 518 are coaxially arranged, the end faces of the two axial ends of the dust cover 519 are respectively attached to the end face of the spherical outer ring 516 and the inner wall face of the accommodating groove, and when the steering outer pull rod 503 performs a deflection movement, the dust cover 519 can effectively form a seal between the steering outer pull rod 503 and the knuckle bearing so as to play a role in dust prevention and water prevention. The knuckle bearing with the structure is convenient to assemble, simple and reliable, and low in manufacturing cost.
The electric power steering system of the large commercial vehicle with the structure has the following advantages:
1. the weight is light, and the application on new energy buses is more advantageous;
2. the whole vehicle is convenient to arrange, and the original arrangement scheme of the vehicle steering gear is adopted;
3. the product has high integration level, is convenient to install, and does not need to be assembled with complex oil ways and oil way accessories;
4. the steering is light, the noise is low, and the steering comfort and the active safety are high;
5. the hydraulic oil way is not provided, the oil leakage problem is avoided, and the environmental pollution is avoided;
6. different vehicle types can be matched quickly, and the optimal performance can be realized only by debugging the software setting of the steering electronic control unit 4;
7. maintenance is not needed in the whole life cycle, and fault diagnosis can be automatically and rapidly carried out;
8. the steering function requirements of auxiliary driving and automatic driving can be met;
9. the number of parts is small, and the cost is low;
10. the energy consumption is low, and the power-assisted motor 501 only works when the vehicle steering action is carried out;
11. the telescopic electric power steering device 5 is of an integrated structure, high in integration level and high in mechanical efficiency of the direct-acting telescopic structure.
The invention also provides a control method of the electric power steering system of the large commercial vehicle, which comprises the following steps in a normal driving mode:
s11, after the vehicle is ignited, the steering electronic control unit 4 is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s12, when a driver turns the steering wheel 1, steering torque is transmitted to the telescopic electric power steering device through the steering column 2 and the steering transmission shaft 3, and the torque angle sensor collects and transmits the turning torque and the turning direction acted on the steering wheel 1 and the turning angle signal of the steering wheel 1 to the steering electronic control unit 4;
s13, the steering electronic control unit 4 processes the vehicle speed signal, the rotating moment and rotating direction signals on the steering wheel 1 and the rotating angle signals of the steering wheel 1 and then outputs current and rotating direction signals to the power-assisted motor 501;
and S14, the input shaft 522 rotates, the power-assisted motor 501 simultaneously runs, the telescopic rod 502 moves linearly, and the telescopic rod 502 drives wheels to steer through the knuckle arm 6 and the tie rod 7.
As shown in fig. 2, in the normal driving mode, various signals are collected and calculated by a steering electronic control unit 4 (ECU), a booster motor 501 is driven, and the booster motor 501 drives a telescopic mechanism to transmit push-pull force to realize tire steering.
In the above step S11, the acquired vehicle travel signal includes the vehicle ready and the travel speed signal.
In the step S14, the input shaft 522 drives the telescopic rod 502 of the telescopic electric power steering apparatus (PP-EPS) to perform the linear reciprocating motion; the power-assisted motor 501 drives a telescopic rod 502 on a telescopic electric power-assisted steering device (PP-EPS) to do linear reciprocating motion at the same time through a speed reducing mechanism, so that the telescopic rod 502 obtains superposition of steering force from the steering wheel 1 and motor power-assisted force; the telescopic rod 502 reciprocates, and the steering knuckle arm 6 and the steering tie rod 7 drive the wheels to steer left and right; the steering force of the wheels is mostly provided by the assist motor 501, and the steering force of the steering wheel 1 is small and adjusted to a state comfortable for the driver.
The invention also provides a control method of the electric power steering system of the large commercial vehicle, which comprises the following steps in an intelligent driving mode:
s21, after the vehicle is ignited, the steering electronic control unit 4 is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s22, a Vehicle Control Unit (VCU) sends a steering control signal to the steering electronic control unit 4;
s23, after the steering control signal is processed by the steering electronic control unit 4, outputting a current and a rotation direction signal to the power-assisted motor 501;
and S24, the power-assisted motor 501 operates, the telescopic rod 502 moves linearly, and the telescopic rod 502 drives wheels to steer through the knuckle arm 6 and the tie rod 7.
As shown in fig. 3, in the intelligent driving mode, a Vehicle Controller (VCU) directly sends signals such as steering angle, angular velocity, direction and the like to a steering electronic control unit 4 (ECU), and the steering electronic control unit 4 (ECU) processes and calculates the signals to drive a booster motor 501, and the booster motor 501 drives a telescopic mechanism to transfer push-pull force to realize tire steering.
In the above step S21, the acquired vehicle travel signal includes the vehicle ready and the travel speed signal.
In the above step S22, the steering control signals include the steering angle, the angular velocity, and the steering direction signals.
In the step S23, the assist motor 501 drives the telescopic rod 502 on the telescopic electric power steering (PP-EPS) to perform linear reciprocating motion through the speed reducing mechanism; the telescopic rod 502 reciprocates, and the steering knuckle arm 6 and the steering tie rod 7 drive the wheels to steer left and right; the steering force of the wheels is mostly provided by the assist motor 501, and the steering force of the steering wheel 1 is small and adjusted to a state comfortable for the driver.
The invention is described above by way of example with reference to the accompanying drawings. It will be clear that the invention is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present invention; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (5)
1. The electric power steering system of the large commercial vehicle comprises a steering transmission shaft and a knuckle arm, and is characterized by further comprising a telescopic electric power steering assistance device, wherein the telescopic electric power steering assistance device comprises an input shaft connected with the steering transmission shaft, a steering big gear connected with the input shaft, a steering small gear meshed with the steering big gear, an assistance motor, an assistance small gear connected with the assistance motor, an assistance big gear meshed with the assistance small gear and coaxially connected with the steering small gear, a ball screw mechanism connected with the assistance big gear and a steering outer pull rod connected with the ball screw mechanism and connected with the knuckle arm;
the upper end of the steering column is fixedly connected with a steering wheel, the lower end of the steering column is fixedly connected with the upper end of a steering transmission shaft, the lower end of the steering transmission shaft is fixedly connected with an input shaft, a steering gear wheel is coaxially and fixedly connected with the input shaft, and a torque angle sensor is arranged on the input shaft;
the steering pinion is meshed with the steering large gear to form a speed increasing mechanism, and the diameter of the steering pinion is smaller than that of the steering large gear; the power-assisted motor comprises a power-assisted motor, a power-assisted pinion, a power-assisted motor, a power-assisted pinion, a power-assisted motor and a power-assisted gear, wherein the power-assisted pinion is coaxially and fixedly connected with the power-assisted gear, the power-assisted pinion is meshed with the power-assisted gear to form a speed reducing mechanism, the diameter of the power-assisted pinion is smaller than that of the power-assisted gear, the power-assisted pinion is fixedly connected with the motor shaft of the power-assisted motor, and the axis of the power-assisted pinion is vertical to the axis of the input shaft in space;
the telescopic electric power steering device further comprises a shell component, the power-assisted motor is arranged on the shell component, and the ball screw mechanism, the steering large gear, the steering small gear, the power-assisted small gear and the power-assisted large gear are positioned in the shell component;
the shell assembly comprises a first shell, a second shell and a shell connecting pipe, wherein the first shell and the second shell are fixedly connected with the two opposite ends of the shell connecting pipe in the length direction respectively; the power-assisted motor is fixedly connected with the first shell, the input shaft is rotatably arranged on the first shell, the steering gear, the steering pinion, the power-assisted pinion and the power-assisted gear are located in the first shell, the telescopic rod penetrates through the second shell, one end of the telescopic rod is located in the shell connecting pipe, and the other end of the telescopic rod is located outside the second shell.
2. The electric power steering system for a large commercial vehicle according to claim 1, wherein the ball screw mechanism includes a screw shaft connected to the power assist gearwheel, a nut fitted to the screw shaft, a telescopic rod connected to the nut, and a guide rod guiding the nut, the telescopic rod being connected to the tie rod through a joint bearing.
3. The electric power steering system of a large commercial vehicle according to claim 2, wherein two guide rods are provided, two oilless bushings are provided on the nut, and each guide rod passes through one oilless bushing.
4. A control method of an electric power steering system for a large commercial vehicle according to any one of claims 1 to 3, characterized by comprising, in a normal driving mode, the steps of:
s11, after the vehicle is ignited, the steering electronic control unit is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s12, when a driver turns a steering wheel, transmitting steering torque to a telescopic electric power steering device through a steering column and a steering transmission shaft, and collecting and transmitting the turning torque and turning direction acting on the steering wheel and steering wheel turning angle signals to a steering electronic control unit by a torque angle sensor;
s13, the steering electronic control unit processes the vehicle speed signal, the rotating moment and rotating direction signals on the steering wheel and the rotating angle signals of the steering wheel and then outputs current and rotating direction signals to the power-assisted motor;
and S14, the input shaft rotates, the power-assisted motor simultaneously runs, the telescopic rod moves linearly, and the telescopic rod drives the wheels to steer through the knuckle arm and the steering tie rod.
5. A control method of an electric power steering system for a large commercial vehicle according to any one of claims 1 to 3, characterized by, in an intelligent driving mode, comprising the steps of:
s21, after the vehicle is ignited, the steering electronic control unit is electrified and is ready for working, and meanwhile, a vehicle running signal is acquired;
s22, the whole vehicle controller sends a steering control signal to the steering electronic control unit;
s23, after the steering control signal is processed by the steering electronic control unit, outputting a current and a rotating direction signal to the power-assisted motor;
and S24, the power-assisted motor runs, the telescopic rod moves linearly, and the telescopic rod drives the wheels to steer through the knuckle arm and the steering tie rod.
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| CN112793661B (en) * | 2021-03-24 | 2023-04-11 | 浙江爱特新能源汽车有限公司 | New energy commercial vehicle steering system |
| CN114148407A (en) * | 2021-10-27 | 2022-03-08 | 安徽德孚转向***股份有限公司 | Electric power-assisted steering system of medium-large commercial vehicle |
| CN114889687B (en) * | 2021-12-09 | 2023-08-29 | 山东科技大学 | Mechanical structure for controlling steering of vehicle |
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