CN112537368B - Steering wheel unit for generating feedback on steering wheel of electromechanical steering system - Google Patents
Steering wheel unit for generating feedback on steering wheel of electromechanical steering system Download PDFInfo
- Publication number
- CN112537368B CN112537368B CN201910894902.7A CN201910894902A CN112537368B CN 112537368 B CN112537368 B CN 112537368B CN 201910894902 A CN201910894902 A CN 201910894902A CN 112537368 B CN112537368 B CN 112537368B
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- steering
- force
- wheel shaft
- compensator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000002265 prevention Effects 0.000 claims description 15
- 230000001419 dependent effect Effects 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/04—Hand wheels
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
-
- 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
- B62D5/0403—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 constructional features, e.g. common housing for motor and gear box
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a steering wheel unit for an electromechanical steering system of a motor vehicle, comprising: force generating means for loading a mechanical feedback force to the steering wheel to feedback the current steering and/or driving state to the driver; and a compensation element for generating an additional feedback force in dependence on the prevailing lateral force acting on the motor vehicle. The force generating device has an internal gear which rotates in the same direction as the steering wheel and a first and a second radial spring which are each connected to the internal gear and to the housing of the steering wheel unit and which apply a force to the steering wheel via the internal gear, so that, as the adjustment of the steering wheel from a straight run increases, a feedback force which can be generated on the steering wheel for feeding back a steering state, which is dependent on the steering angle of the wheels, to the driver increases, and the compensation element is connected to the steering shaft via a compensation element pinion and applies an additional feedback force to the steering wheel as a function of the lateral force.
Description
Technical Field
The present invention relates to a steering wheel unit for an electromechanical steering system of a motor vehicle. The invention further relates to an electromechanical steering system comprising such a steering wheel unit.
Background
The field of application of the invention extends to so-called steer-by-wire systems for motor vehicles, in which there is no direct mechanical coupling between the steering wheel and the steered wheel of the motor vehicle. Instead, the steering angle of the steering wheel and, if appropriate, also the rotational speed of the steering wheel and/or the torque applied to the steering wheel is detected by means of suitable sensor devices and transmitted in the form of an electrical control value to an electromechanical steering wheel actuator unit, which converts an electrically predefined steering signal into a mechanical adjustment of the steering angle of the wheels of the steerable axle.
In such an electromechanical steering system, a direct mechanical feedback of the actually implemented wheel steering angle, which in a mechanically coupled system can be perceived by the driver, generally in the form of a restoring torque on the steering wheel as a function of the speed of travel and vibrations superimposed thereon, and also by the end stop position of the steering wheel, is therefore dispensed with.
An electromechanical steering system for a motor vehicle is known from US 2017/032555 A1, which is equipped with a special force generating device for applying a mechanical feedback force to the steering wheel in order to feed back the current steering and vehicle state to the driver. For this purpose, the steering wheel unit has an electric motor for generating a feedback force by applying a corresponding torque to the steering wheel shaft. By appropriate actuation of the electric motor, the actual driving sensation as in a mechanically coupled steering system can be transmitted to the driver via the steering wheel. The force generating device provided for this purpose furthermore comprises a lockable coupling which is actuated as a brake by means of an electromagnetic actuator in order to prevent further rotation of the steering wheel shaft when the wheel reaches a predetermined end stop position in the respective rotational direction. For this purpose, the coupling fixes the steering wheel shaft according to the electronic control device in the above-described situation. In this prior art, the electric motor for applying the mechanical feedback force is an active member, which thus also requires an electronic control device.
Another electromechanical steering system for a motor vehicle is known from US 2002/0189888 A1, which is also equipped with an electric motor for generating a mechanical feedback force on the steering wheel. For this purpose, the electric motor is arranged in an axially parallel manner to the steering wheel shaft and acts on the steering wheel via a belt drive. This solution requires more structural space in the transverse direction relative to the steering wheel axis than the prior art mentioned above.
Disclosure of Invention
The object of the present invention is therefore to provide a steering wheel unit for an electromechanical steering system of a motor vehicle, which saves installation space, saves energy and/or transmits a mechanical feedback force to the driver regarding the current steering state in a simple manner.
This object is achieved starting from a steering wheel unit according to the preamble of the preferred embodiment in combination with its features. In connection with an electromechanical steering system comprising such a steering wheel unit, reference is made to a preferred embodiment of the electromechanical steering system. Alternative embodiments present advantageous further aspects of the invention.
The present invention includes the teaching of providing a steering wheel unit for an electromechanical steering system of a motor vehicle. The steering wheel unit has a force generating device for applying a mechanical feedback force to the steering wheel for feeding back a current steering and/or driving state to the driver and a compensation element for generating an additional feedback force in dependence on a current transverse force acting on the vehicle. The force generating device has an inner gear which rotates in the same direction as the steering wheel and a first and a second radial spring, wherein the first and the second radial springs are each connected to the inner gear and to the housing of the steering wheel unit and apply a force to the steering wheel via the inner gear, so that a feedback force which can be generated on the steering wheel for feedback of a steering state which is dependent on the steering angle of the wheels to the driver increases as the adjustment of the steering wheel out of straight travel increases. The compensator is connected to the steering shaft via a compensator pinion and is arranged to apply an additional feedback force to the steering wheel in dependence of the lateral force.
The advantage of the solution according to the invention is, inter alia, that the solution according to the invention is realized using passive components, which do not need to be controlled by an electronic control unit. The current requirements of the electromechanical system can thereby be reduced. Furthermore, the passive component, in particular the two radial springs and the compensation element, can be arranged coaxially around the steering wheel shaft in a space-saving manner.
In other words, the solution of the invention ensures that when the steering wheel rotates in one direction or the other, one or the other radial spring is compressed by the internal gear in combination with the housing, thereby establishing mechanical potential energy for generating a mechanical feedback force. Furthermore, in the solution according to the invention, the influence of the current transverse force acting on the vehicle on the feedback force is taken into account, since the compensation member applies an additional feedback force to the steering wheel shaft and thus to the steering wheel in dependence on the current transverse force.
According to one embodiment, the compensation element is fastened to the bolt and is provided for rotation about the bolt in response to a transverse force acting on the motor vehicle. Within the framework of the invention, a compensation element is understood to be a passive mechanical component which is provided to at least partially compensate or balance the effect of a transverse force acting on the vehicle on the steering force. By means of the compensation element, a feedback force can be provided to the driver of the vehicle, which corresponds to the feedback force generated by purely mechanical steering. The steering feel is thereby improved for the driver of the steer-by-wire system. In one embodiment, the compensation element can be configured as an inertial mass which is rotatably mounted and which is accelerated in one direction by a lateral acceleration. Furthermore, the compensator may be damped for ensuring a continuous and sustained build-up of additional feedback force. By transmitting the corresponding force via the compensator pinion to the steering wheel shaft by means of a transverse force acting on the compensator, an additional feedback force acting on the steering wheel can be generated as a function of the transverse force acting on the motor vehicle. In other words, the higher the lateral force acting on the steering wheel unit, the higher the additional feedback force acting on the steering wheel shaft generated by the compensator. For this purpose, the compensation element can be embodied as an inertial mass. Furthermore, the weight of the compensator, e.g. 5kg, and the geometry, e.g. semi-circular, may be chosen according to the vehicle and customer wishes.
According to a further embodiment, the compensator also has a slot. The steering wheel shaft extends through the slot, wherein the slot simultaneously defines the maximum possible rotation, turning or deflection of the compensator about the pin. Furthermore, the installation space of the steering wheel unit can be further reduced by the slot and by guiding the steering wheel shaft through the slot.
Preferably, the feedback force generated according to the present invention is used to feedback the current steering state to the driver in consideration of the lateral force acting on the vehicle. In order to simulate other feedback information (for example the end stop position of the wheels, which can be sensed by corresponding end stops on the steering wheel, or the surface structure of the roadway, which is fed back by corresponding mechanical vibrations), it is proposed according to a further development of the measure according to the invention that the force generating device further comprises an electric motor connected to the steering wheel shaft for actuating the superposition to simulate only this further steering and driving state. In this solution of the invention, the feedback force exerted by the electric motor is used to reduce or increase the force generated by the elastic action of the radial spring in a targeted and situation-dependent manner for producing a realistic driving feel on the steering wheel. The electric power consumption of the steering wheel unit of the invention is thus much lower than that of the prior art fully actively controlled steering wheel unit described at the outset. Furthermore, the size of the electric motor used can be reduced, whereby the installation space and the costs can be saved.
According to a preferred embodiment, the electric motor mentioned is connected as a component of the force generating device via a motor gear to the steering wheel shaft in a force-locking manner for decelerating the motor rotational speed. The electric motor and the motor gear may be arranged inside the housing. Furthermore, the electric motor may be arranged parallel to the steering wheel shaft and axially offset. This ensures a compact design of the steering wheel unit.
According to one embodiment of the invention, the steering wheel unit is further provided with a failure prevention device. The failure prevention device is provided with a fixed claw, a longitudinally movable claw, a failure prevention spring and an electromagnet which are connected with the steering transmission device. The longitudinally movable jaw is arranged around a steering wheel shaft and can move along the steering wheel shaft in a longitudinal direction, and the fixed jaw is arranged relative to the longitudinally movable jaw and is provided for a form-locking fit or connection with the longitudinally movable jaw. The fail-safe spring is disposed between the longitudinally movable jaw and the housing. The failure-preventing spring is in this case attached to the housing on the end face on the side of the housing facing away from the steering wheel. Furthermore, the failure-preventing spring is provided for exerting a force on the longitudinally movable jaw, so that the longitudinally movable jaw is in a form-locking fit with the fixed jaw or is connected with the fixed jaw. The failure-preventing spring is arranged concentrically around the steering wheel shaft. This makes it possible to guide the failure-preventing spring, on the one hand, and to minimize the installation space of the steering wheel unit, on the other hand. Preferably, the electromagnet is arranged coaxially around the anti-failure spring and is provided for moving the longitudinally movable claw along the steering wheel shaft in the direction of the steering wheel and exerting a reaction force on the anti-failure spring when actuated or energized, so that the longitudinally movable claw is not engaged with or positively connected to the fixed claw. In other words, the electromagnet applies an attractive force to the longitudinally movable jaw such that the longitudinally movable jaw is no longer connected to the stationary jaw. If the electromagnet is energized, the anti-failure spring presses the longitudinally movable jaw into the stationary jaw and thereby establishes a force-locking and form-locking connection between the two. Thus, when the current fails (the electromagnet is not activated at this time), the fail-safe device establishes a direct mechanical connection between the steering wheel and the wheel to be steered.
Furthermore, the fail-safe spring is provided to establish a positive connection between the fixed jaw and the longitudinally movable jaw when the electromagnet is not energized or when the steering wheel shaft and the fixed jaw are not rotated in the same manner. Thereby, steering can be ensured even when there is a voltage failure or a current failure of the on-board power system of the vehicle. When erroneous or undesired control of the wheels is performed by the steer-by-wire system, a functionally reliable steering is ensured as well.
According to a preferred embodiment, the radial spring is in the form of an arcuate coil spring, which is arranged around the pin of the compensation element. Other types of radial springs are contemplated that produce the desired feedback force when the inner gear rotates.
It should be noted that the steering wheel shaft is rotatably supported at least two points inside said housing. Furthermore, the internal gear and the compensating member are rotatably supported. The corresponding end stop of the steering wheel can be ensured by the shape or the gear ratio between the housing and the spring pinion and the internal gear.
Another aspect of the invention relates to an electromechanical steering system having the steering wheel unit described above and below. The electromechanical steering system also has an electromechanical steering actuator unit for mechanically adjusting the steerable axle and, if appropriate, an electronic control unit. The control unit may for example comprise a computing unit such as a processor and a memory unit and be arranged to output control instructions to the steering actuator unit. The electromechanical steering system can obtain a preconditioning value from a steering motion sensor, which is then converted by the electronic control unit into a control command for the steering actuator unit, such as an electric motor. The steering actuator unit in turn influences the wheels of the vehicle such that they rotate in accordance with the preconditioning value of the steering motion sensor. A steerable or steerable axle can thereby be produced.
Drawings
Further developments of the invention are explained in detail below with reference to the drawings, together with a description of a preferred embodiment of the invention. In the accompanying drawings:
fig. 1 shows a schematic view of an electromechanical steering system for a motor vehicle;
FIG. 2 shows a schematic cross-section of a steering wheel unit of the steering system of FIG. 1;
Fig. 3 shows a schematic longitudinal section of a steering wheel unit of the steering system in fig. 1 or 2; and
Fig. 4 shows a vehicle with a steering wheel unit of the steering system in fig. 1 to 3.
Detailed Description
According to fig. 1, an electromechanical steering system for a motor vehicle essentially consists of a steering wheel unit 1, in the cylinder housing 2 of which a steering wheel shaft 3 is rotatably mounted. A steering wheel 4for operation by a driver is mounted at a distal intermediate end of the steering wheel shaft 3.
Via the electrical connection 5, the steering wheel unit 1 is connected by means of an electronic control device 6 to a steering actuator unit 7, which in this embodiment is designed in an electromechanical manner. The steering actuator unit 7 serves to convert the steering signal, which is electrically predefined by the steering wheel unit 1 by means of the control device 6, into a mechanical adjustment of the steering angle of the wheels 8a and 8b of the steerable axle 9.
Fig. 2 shows a cross-sectional view of the steering wheel unit 1 along section A-A. A pin 11 of the compensation element 10 is arranged in the middle, on which pin the compensation element 10 is supported such that the compensation element 10 can rotate around the pin 11. Furthermore, the compensator 10 has a slot 10a which defines the maximum possible rotation of the compensator 10. Furthermore, the compensation element 10 is embodied as an inertial mass which is rotated about the pin 11 by a transverse force acting on the steering wheel unit. The compensator pinion 22 is arranged behind the slot 10a and coaxially surrounds the steering wheel shaft 3. The compensator pinion 22 establishes a force-locking connection between the compensator 10 and the steering wheel shaft 3 and is provided for transmitting an additional feedback force of the compensator 10 to the steering wheel shaft 3 as a function of the transverse forces acting on the vehicle.
Furthermore, the steering wheel shaft 3 extends through and interacts with a slot 10a of the compensator 10 for limiting the maximum possible rotation, turning or deflection of the compensator 10. Behind the compensator pinion 22 is arranged a spring pinion (hidden by the compensator pinion). The spring pinion is provided for transmitting a rotation or force from the steering wheel shaft 3 to the internal gear 12, so that the internal gear rotates together or in the same direction as the steering wheel 4 or the steering wheel shaft 3. The ring gear 12 has two receptacles for springs, which are shown in the form of semicircles opposite the left-hand and right-hand outer parts in fig. 2. Furthermore, two radial springs 16a, 16b can be seen in fig. 2. These radial springs are arranged or tensioned between the housing 2 or a receptacle connected to the housing 2 and a receptacle of the annulus gear 12, respectively, in such a way that they generate an ascending restoring force on the steering wheel for feeding back a steering state, which is related to the steering angle of the wheels, to the driver as the steering wheel increases out of alignment. In other words, the internal gear 12 rotates relative to the housing 2 and thereby compresses one of the radial springs 16a, 16b. The two radial springs may be arcuate linear springs of spring steel which are arranged along a radius at least partially around the pin 11 of the compensator 10. The above-mentioned components are coaxially enclosed by the housing 2, wherein the pin 11 of the compensation element 10 is arranged in the middle of the housing 2.
As shown in fig. 3, in the steering wheel unit 1, torque applied to the steering wheel 4 by the driver due to steering movement is transmitted to the inside of the housing 2 through the steering wheel shaft 3. In this housing 2, a compensator 10, an electric motor 15, a motor gear 14, an internal gear 12, a spring pinion 13, a compensator pinion 22 and a steering motion sensor 23 are arranged. The steering motion sensor 23 may be provided for detecting the wheel posture. The steering wheel shaft 3 is rotatably supported inside the housing 2 by at least two bearings.
The spring pinion 13 and the compensation pinion 22 are connected to the steering wheel shaft 3 in a form-fitting manner, so that a rotation of the steering wheel shaft 3 also results in a rotation of the two pinions 13, 22 and vice versa. The spring pinion 13 is connected to the ring gear 12 and rotates the ring gear 12 in the same direction as the steering wheel shaft 3. By rotation of the inner gear 12 relative to the housing 2, one of the radial springs in fig. 2 is compressed, whereby the radial spring applies a feedback force to the steering wheel shaft 3.
The compensator pinion 22 is connected to the compensator 10 so that an additional feedback force (depending on the lateral force) can be applied to the steering wheel shaft 3. The pin 11 of the compensation element 10 extends at the end side through the housing 2 and the compensation element 10 is provided for rotation about the pin for applying or applying an additional feedback force to the steering wheel shaft 3.
The electric motor 15 is arranged in parallel and axially offset with respect to the steering wheel shaft 3 inside the housing 2. Furthermore, the electric motor 15 is connected to the steering wheel shaft 3 via a motor gear 14, so that it can apply a force to the steering wheel shaft 3 and thus to the steering wheel 4. In particular, the electric motor 15 may apply a further feedback force superimposed with the feedback force of the passive components (the radial spring and the compensator) and/or with an additional feedback force. For controlling or regulating the electric motor 15 and the wheels to be steered, a steering motion sensor 23 may be provided on the steering wheel shaft 3, which detects the torque and the angular position of the steering wheel 4 and transmits this to the control device 6 in order to determine a corresponding feedback force acting on the driver.
The steering wheel unit 1 also has a failure prevention device. The failure protection device is flanged to the housing 2 on the end side, on the side of the housing 2 opposite the steering wheel 4. The failure prevention device is provided for establishing a connection with a wheel to be steered in the event of a failure of the steer-by-wire system. For this purpose, the fail-safe device has a steering-gear-side fixed jaw 17, a steering-wheel-shaft-side longitudinally movable jaw 18, a fail-safe spring 21 and an electromagnet 20. The longitudinally movable jaw 18 coaxially surrounds and is longitudinally movable along a steering wheel shaft. The fixed jaw 17 is arranged relative to the longitudinally movable jaw 18 and is provided for a form-locking engagement therewith and for connection therewith. A failure prevention spring 21 is arranged axially between the longitudinally movable claw 18 and the housing 2 of the steering wheel unit 1 and is provided for applying a force to the longitudinally movable claw 18 such that it engages in a form-locking manner with the locking claw 17 and is connected thereto, wherein the failure prevention spring 21 is arranged concentrically around the steering wheel shaft 3. In other words, the fail-safe spring 21 presses the longitudinally movable claw 18 into the fixed claw 17.
An electromagnet 20 is arranged coaxially around the anti-failure spring 21 and is provided to move the longitudinally movable claw 18 along the steering wheel shaft 3 in the direction of the steering wheel 4 and to exert a reaction force on the anti-failure spring 21 when actuated or energized, so that the longitudinally movable claw 18 can no longer engage with the fixed claw 17 or be connected thereto. In other words, the electromagnet 20 attracts the longitudinally movable jaw 18 and thereby compresses the fail-safe spring 21. In the event of a failure of the current or a faulty control of the wheel by the steering-by-wire system, the energization of the electromagnet can be interrupted, so that the failure prevention device establishes a direct mechanical connection between the steering wheel 4 and the wheel.
Fig. 4 shows a vehicle 24 having an electromechanical steering system comprising the steering wheel unit 1 described above and below. Typically, the electromechanical steering system is disposed in a front region of the vehicle 24 and is provided for turning or steering the front wheels of the vehicle 24 as desired by the driver. Alternatively or additionally, the electromechanical steering system may also act on the rear wheels, as is the case for example in active rear wheel steering or forklift trucks. The steering wheel unit 1 may be arranged below the instrument panel, for example, in the region of the driver's seat in the direction of the engine compartment.
The invention is not limited to the preferred embodiments described above. On the contrary, variants are conceivable which are encompassed by the scope of protection of the following claims. Furthermore, the steering actuator unit 7 may also be constructed as an electrohydraulic type or the like.
List of reference numerals
1. Steering wheel unit
2. Shell body
3. Steering wheel shaft
4. Steering wheel
5. Electric connection part
6. Electronic control device
7. Steering actuator unit
8. Wheel of vehicle
9. Axle of vehicle
10. Compensation piece
10A compensator groove
11. Bolt of compensation piece
12. Internal gear
13. Spring pinion
14. Motor gear
15. Electric motor
16. Radial spring
17. Fixed claw
18. Longitudinally movable claw
19. Electromagnet receiving section
20. Electromagnet
21. Failure-proof spring
22. Compensating piece pinion
23. Steering motion sensor
24. A motor vehicle.
Claims (10)
1. Steering wheel unit (1) for an electromechanical steering system of a motor vehicle (24), having:
Force generating means for loading a mechanical feedback force to the steering wheel (4) to feedback the current steering and/or driving state to the driver; and
A compensation element (10) for generating an additional feedback force as a function of the current transverse force acting on the motor vehicle (24),
The force generating device is characterized in that the force generating device comprises an internal gear (12) rotating in the same direction as the steering wheel (4) and a first and a second radial springs (16 a,16 b), wherein the first and the second radial springs (16 a,16 b) are respectively connected with the internal gear (12) and a housing (2) of the steering wheel unit (1) and apply a force to the steering wheel (4) through the internal gear (12), so that as the adjustment of the steering wheel (4) deviating from straight running increases, a feedback force which can be generated on the steering wheel (4) for feeding back a steering state related to a steering angle of the wheel to the driver increases, wherein the compensator is connected with a steering wheel shaft (3) through a compensator pinion (22) and applies the additional feedback force to the steering wheel (4) according to the lateral force.
2. Steering wheel unit (1) according to claim 1, characterized in that the compensator (10) is fixed to the peg (11) and is arranged to rotate around the peg (11) in dependence of a transverse force acting on the motor vehicle (24), wherein a corresponding force can be transmitted to the steering wheel shaft (3) via the compensator pinion (22) by means of the transverse force acting on the compensator (10), so that an additional feedback force acting on the steering wheel (4) can be generated in dependence of the transverse force acting on the motor vehicle (24).
3. Steering wheel unit (1) according to claim 1, characterized in that the force generating device further has an electric motor (15) connected to the steering wheel shaft (3) for kinematic superposition to simulate further steering and/or driving conditions, in particular end stop positions of the wheels (8 a,8 b) and surface structures of the lane.
4. A steering wheel unit (1) according to claim 3, characterized in that the electric motor (15) is arranged parallel and axially offset with respect to the steering wheel shaft (3) and is connected to the steering wheel shaft (3) in a force-locking manner by means of a motor gear (14).
5. Steering wheel unit (1) according to claim 1, wherein the compensator (10) is an inertial mass.
6. Steering wheel unit (1) according to any of the preceding claims 1 to 5, wherein the compensator (10) further has a slot (10 a) through which the steering wheel shaft (3) extends, wherein the slot (10 a) at the same time defines the largest possible range of rotation angles of the compensator (10).
7. Steering wheel unit (1) according to any of the preceding claims 1 to 5, characterized in that the steering wheel unit (1) further has a failure prevention device, wherein the failure prevention device has a fixed jaw (17), a longitudinally movable jaw (18), a failure prevention spring (21) and an electromagnet (20), wherein the longitudinally movable jaw (18) is arranged around the steering wheel shaft (3) and can be moved along the steering wheel shaft in a longitudinal direction (x), wherein the fixed jaw (17) is arranged relative to the longitudinally movable jaw (18) and is provided for a form-locking engagement therewith, wherein the failure prevention spring (21) is arranged axially between the longitudinally movable jaw (18) and the housing (2) of the steering wheel unit (1) and is provided for applying a force to the longitudinally movable jaw (18) such that the longitudinally movable jaw is form-locking engagement with the fixed jaw (17), wherein the failure prevention spring (21) is arranged concentrically around the steering wheel shaft (3), wherein the electromagnet (21) is arranged coaxially around the failure prevention spring (21) and is provided for applying a force to the steering wheel (4) when the failure prevention spring (21) is arranged around the steering wheel shaft (3) and is activated in a form-locking manner, so that the longitudinally movable jaw (18) does not engage with the fixed jaw (17), the longitudinal direction being the axial direction of the steering wheel shaft.
8. Steering wheel unit (1) according to claim 7, characterized in that the fail-safe spring (21) is provided for establishing a form-locking connection between the stationary jaw (17) and the longitudinally movable jaw (18) when the electromagnet (20) is not energized or when the steering wheel shaft (3) and the stationary jaw (17) are not rotated in the same form.
9. Steering wheel unit (1) according to any of the preceding claims 1 to 5, characterized in that the radial springs (16 a,16 b) are constituted in the form of arc-shaped helical springs.
10. An electromechanical steering system for a motor vehicle (24), comprising a steering wheel unit (1) according to any of the preceding claims and an electromechanical steering actuator unit (7) for mechanically adjusting the steering angle of the wheels (8 a,8 b) of the steerable axle (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910894902.7A CN112537368B (en) | 2019-09-20 | 2019-09-20 | Steering wheel unit for generating feedback on steering wheel of electromechanical steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910894902.7A CN112537368B (en) | 2019-09-20 | 2019-09-20 | Steering wheel unit for generating feedback on steering wheel of electromechanical steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112537368A CN112537368A (en) | 2021-03-23 |
| CN112537368B true CN112537368B (en) | 2024-05-31 |
Family
ID=75012611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910894902.7A Active CN112537368B (en) | 2019-09-20 | 2019-09-20 | Steering wheel unit for generating feedback on steering wheel of electromechanical steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112537368B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090128829A (en) * | 2008-06-11 | 2009-12-16 | 한국기술교육대학교산학협력단 | Electric current direct measurement steer-by-wire steering control device |
| DE102011005309A1 (en) * | 2011-03-09 | 2012-09-13 | Takata-Petri Ag | Steering wheel for motor vehicle, has locking device which is elastically supported with respect to superimposed drive, by an elastic sleeve, such that an input movement relative to the superimposed drive is executed |
| CN204680307U (en) * | 2015-06-17 | 2015-09-30 | 古朴 | A kind of stop means emulating automobile driving simulator bearing circle |
| CN106945716A (en) * | 2015-12-03 | 2017-07-14 | 操纵技术Ip控股公司 | The method that feedback is provided in torque feedback system, the vehicle with steering column and vehicle |
| CN107010098A (en) * | 2015-11-16 | 2017-08-04 | 福特全球技术公司 | The method of the disturbance moment of torsion occurred on steering wheel for compensating wheel steering system |
| WO2017179391A1 (en) * | 2016-04-12 | 2017-10-19 | 日立オートモティブシステムズ株式会社 | Vehicle control device and method |
| CN108216351A (en) * | 2016-12-09 | 2018-06-29 | 现代自动车株式会社 | Steering feeling in wire-controlled steering system is by control device |
| CN109466629A (en) * | 2017-09-08 | 2019-03-15 | 现代自动车株式会社 | The method for determining the assist torque of power steering system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4029856B2 (en) * | 2004-03-26 | 2008-01-09 | トヨタ自動車株式会社 | Vehicle behavior control device |
-
2019
- 2019-09-20 CN CN201910894902.7A patent/CN112537368B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090128829A (en) * | 2008-06-11 | 2009-12-16 | 한국기술교육대학교산학협력단 | Electric current direct measurement steer-by-wire steering control device |
| DE102011005309A1 (en) * | 2011-03-09 | 2012-09-13 | Takata-Petri Ag | Steering wheel for motor vehicle, has locking device which is elastically supported with respect to superimposed drive, by an elastic sleeve, such that an input movement relative to the superimposed drive is executed |
| CN204680307U (en) * | 2015-06-17 | 2015-09-30 | 古朴 | A kind of stop means emulating automobile driving simulator bearing circle |
| CN107010098A (en) * | 2015-11-16 | 2017-08-04 | 福特全球技术公司 | The method of the disturbance moment of torsion occurred on steering wheel for compensating wheel steering system |
| CN106945716A (en) * | 2015-12-03 | 2017-07-14 | 操纵技术Ip控股公司 | The method that feedback is provided in torque feedback system, the vehicle with steering column and vehicle |
| WO2017179391A1 (en) * | 2016-04-12 | 2017-10-19 | 日立オートモティブシステムズ株式会社 | Vehicle control device and method |
| CN108216351A (en) * | 2016-12-09 | 2018-06-29 | 现代自动车株式会社 | Steering feeling in wire-controlled steering system is by control device |
| CN109466629A (en) * | 2017-09-08 | 2019-03-15 | 现代自动车株式会社 | The method for determining the assist torque of power steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112537368A (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6138788A (en) | Vehicle steering system | |
| US6820713B2 (en) | Hand wheel actuator with steering-feel enhancement | |
| EP1354787B1 (en) | Active front steering actuator and method for controlling a vehicle | |
| US5803202A (en) | Reaction simulator especially for a vehicle steering system | |
| US7306535B2 (en) | Vehicle steering device and method | |
| US7837202B2 (en) | Stabilizer control device | |
| JP4889736B2 (en) | Steering device for super position steering mechanism | |
| US6799654B2 (en) | Hand wheel actuator | |
| US6938720B2 (en) | Steering input devices for steer-by-wire systems | |
| US20200189649A1 (en) | Steer-by-wire steering system of a motor vehicle with a feedback actuator having an integrated mrf bearing | |
| CN112049179B (en) | Manually operable control device | |
| JP5578357B2 (en) | Vehicle steering system | |
| CN102648119A (en) | A method and a system for assisting a driver of a vehicle during operation | |
| GB2306928A (en) | Power steering for motor vehicles | |
| JP3935970B2 (en) | Power steering device with hydraulic power assist mechanism | |
| CN112537366A (en) | Steering wheel unit for detecting a steering movement of a steering wheel of an electromechanical steering system | |
| CN112537368B (en) | Steering wheel unit for generating feedback on steering wheel of electromechanical steering system | |
| CN113710560B (en) | Drive-by-wire steering system for a motor vehicle with concentric drive | |
| EP2562063B1 (en) | Steering unit for a steer-by-wire steering system | |
| JP4192685B2 (en) | Vehicle steering system | |
| JP4082204B2 (en) | Vehicle steering system | |
| JP2007083848A (en) | Steering system for vehicle | |
| JP3646201B2 (en) | Vehicle steering system | |
| CN112537367A (en) | Steering wheel unit for detecting a steering movement of a steering wheel of an electromechanical steering system | |
| CN112537365A (en) | Steering wheel unit for detecting a steering movement of a steering wheel of an electromechanical steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |