CN115871773B - Drive-by-wire steering road feel simulation system with failure redundancy and control method thereof - Google Patents
Drive-by-wire steering road feel simulation system with failure redundancy and control method thereof Download PDFInfo
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Abstract
The invention discloses a drive-by-wire steering road feel simulation system with failure redundancy and a control method thereof, wherein the drive-by-wire steering road feel simulation system with failure redundancy comprises: a steering wheel; a steering column; a steering column tube; an electronic road feel simulation device; a torque sensor; a rotation angle sensor; a mechanical road feel simulation device; a bidirectional torsion spring. The steer-by-wire road feel simulation system with failure redundancy can provide good failure redundancy, and has the advantages of simple structure, easiness in modification, strong applicability, low cost and the like.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a steer-by-wire road feel simulation system with failure redundancy and a control method of the steer-by-wire road feel simulation system with failure redundancy.
Background
With the development of intelligent automobile technology, it has been difficult for a conventional steering mechanism relying on mechanical or hydraulic connection to meet the requirements of an intelligent vehicle, so a steer-by-wire System (SBW) is a future development trend. The steer-by-wire system comprises an upper steering gear and a lower steering gear, and the upper steering gear and the lower steering gear are not in mechanical connection, but are communicated by adopting electric signals. The steering instruction of the driver is firstly converted into an electric signal, the electric signal is transmitted to the electronic control unit, the electric signal is transmitted to the actuating mechanism of the lower steering gear after being calculated, and finally the vehicle runs according to the instruction of the driver. However, the functions of the steering system include not only making the driver change the driving direction of the vehicle, but also making the steering system capable of feeding back the movement and the force of the whole vehicle to the driver, i.e., feeding back "road feel". With conventional steering systems, the steering resistance experienced by the steering wheels of the vehicle, as well as the inertia and damping of the steering system itself, will provide a clear feel to the driver. In the case of steer-by-wire systems, however, the elimination of the mechanical connection results in the need to add a road feel simulator to the steering wheel to simulate the road feel for the driver.
The road feel simulation system in the related art is based on a road feel motor, and the road feel motor is utilized to feed back simulated road feel for a driver. However, the motor executor, sensor, controller and the like of the road feel simulation system have failure possibility in the use process, and the feedback moment after the system fails can be reduced sharply, so that a driver is panicked and even dangerous.
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 the steer-by-wire road feel simulation system with the failure redundancy, which can provide good failure redundancy and has the advantages of simple structure, easy modification, strong applicability, low cost and the like.
The invention also provides a drive-by-wire steering road feel simulation system with failure redundancy and a control method thereof.
To achieve the above object, an embodiment according to a first aspect of the present invention proposes a steer-by-wire feel simulation system with failure redundancy, including: a steering wheel; a steering column connected to the steering wheel; the steering column tube is arranged outside the steering column; the electronic road feel simulation device comprises a motor and a motor controller, wherein the motor is arranged on the steering column tube and is in transmission connection with the steering column, and the motor controller is electrically connected with the motor; a torque sensor mounted on the steering column; a rotation angle sensor mounted on the steering column; the mechanical road feel simulation device comprises a magnetorheological rotary damper and a damper controller, wherein the magnetorheological rotary damper comprises a shell, a rotating piece, a permanent magnet, an electromagnet and magnetorheological fluid, the shell is connected with the steering column tube, an inner cavity and an outer cavity are formed in the shell, the rotating piece is rotatably matched in the inner cavity, the rotating piece is sleeved outside the steering column and connected with the steering column, the permanent magnet and the electromagnet are arranged in the outer cavity, the magnetorheological fluid is filled in the inner cavity, the electromagnet is electrically connected with the damper controller, and the permanent magnet is configured to enable the magnetorheological fluid to become a viscoelastic solid under the action of a magnetic field of the permanent magnet after the electromagnet is powered off so as to provide rotary damping for rotation of the rotating piece in the inner cavity; and the bidirectional torsion spring is sleeved outside the steering column and is respectively connected with the rotating piece and the steering column tube.
The steer-by-wire road feel simulation system with failure redundancy can provide good failure redundancy, and has the advantages of simple structure, easiness in modification, strong applicability, low cost and the like.
In addition, the steer-by-wire road feel simulation system with failure redundancy according to the above embodiment of the present invention may further have the following additional technical features:
According to one embodiment of the invention, the steering wheel, the steering column tube and the magnetorheological rotary damper are coaxially arranged.
According to one embodiment of the present invention, the steering column includes an upper steering column and a lower steering column, the housing includes an upper end cover, a lower end cover, an inner housing and an outer housing, the inner cavity is formed in the inner housing, the outer housing is disposed radially outside the inner housing and defines the outer cavity together with an outer peripheral surface of the inner housing, the upper end cover is disposed on an upper end surface of the inner housing and the lower end cover is disposed on a lower end surface of the inner housing, and a bearing is disposed between the rotating member and the inner housing.
According to one embodiment of the invention, the steering wheel is splined to the steering column.
According to one embodiment of the invention, the steering column is connected to the rotating member by means of a flat key.
According to one embodiment of the invention, the axial direction of the motor is perpendicular to the axial direction of the steering column, the output shaft of the motor is a worm, a gear is arranged on the steering column, and the worm is meshed with the gear.
According to one embodiment of the invention, the motor is arranged coaxially with the steering column and is in driving connection via a planetary gear set.
According to one embodiment of the invention, the axial direction of the motor is arranged at intervals parallel to the axial direction of the steering column, and the motor shaft of the motor is in transmission connection with the steering column through a column gear set.
According to one embodiment of the invention, the motor is a single-winding permanent magnet synchronous motor, a direct current motor or a double-winding permanent magnet synchronous motor.
An embodiment according to a second aspect of the present invention proposes a control method of a steer-by-wire road feel simulation system with failure redundancy according to an embodiment of the first aspect of the present invention, comprising the steps of:
detecting whether the moment sensor fails;
If the torque sensor does not fail, detecting whether the motor fails, if the motor does not fail, calculating a road sensing torque by the motor controller according to the vehicle running speed, the vehicle running acceleration and the detection values of the torque sensor and the rotation angle sensor, controlling the motor according to the road sensing torque, and if the torque sensor or the motor fails, detecting whether the damper controller fails;
If the damper controller does not fail, the motor is powered off, the magnetorheological rotary damper is controlled according to the road-sensing torque, and if the damper controller fails, the motor and the magnetorheological rotary damper are powered off so as to provide rotary damping by using the magnetorheological rotary damper and provide aligning torque by using the bidirectional torsion spring.
According to the control method of the steer-by-wire road feel simulation system with failure redundancy, which is disclosed by the embodiment of the first aspect of the invention, the steer-by-wire road feel simulation system with failure redundancy can provide good failure redundancy, and has the advantages of simple structure, easiness in modification, strong applicability, low cost and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic diagram of a steer-by-wire feel simulation system with fail-redundancy in accordance with an embodiment of the present invention.
Fig. 2 is an exploded view of a steer-by-wire road feel simulation system with fail-redundancy in accordance with an embodiment of the present invention.
FIG. 3 is a cross-sectional view of a magnetorheological rotary damper with a redundant steer-by-wire feel simulation system in accordance with an embodiment of the present invention.
FIG. 4 is a flow chart of a control method of a steer-by-wire road feel simulation system with fail-redundancy in accordance with an embodiment of the present invention.
Reference numerals: the drive-by-wire steering feel simulation system with failure redundancy 1, steering wheel 10, steering column 20, spline 21, flat key 22, motor 30, output shaft 31, gear 32, torque sensor 41, rotation angle sensor 42, magnetorheological rotary damper 50, upper end cover 511, lower end cover 512, inner housing 513, outer housing 514, rotor 52, permanent magnet 53, electromagnet 54, snap spring 55, bearing 56, seal ring 57, bidirectional torsion spring 60.
Detailed Description
The present application has been made based on the findings and knowledge of the inventors regarding the following facts and problems:
The redundancy modes of the steering line feel simulation device in the related art can be divided into electronic redundancy and mechanical redundancy. The electronic backup redundancy is realized by fully backup of the electronic road feel simulation system. The scheme has the advantages that the complete road feel simulation function can be realized after single-point failure, but has the defects of high research and development and manufacturing cost, and the complete redundancy after the single-point failure is unnecessary for the road feel simulation system of the steer-by-wire. The mechanical backup redundancy is that the failure redundancy is realized by adding a mechanical structure on the basis of an electronic road feel simulation system. When the road feel simulation motor fails, the electromagnetic clutch between the upper steering gear and the lower steering gear is combined, and the system is degenerated into a mechanical steering system. But this incomplete decoupling is not suitable for intelligent vehicles. Or on the basis of a conventional road feel simulation device, a mechanical simulation part based on a translational damper is added, and an electromagnetic clutch is adopted for switching, so that the road feel simulation device has a complex structure and high cost.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
A steer-by-wire feel simulation system 1 with fail-redundancy according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, the steer-by-wire feel simulation system 1 with fail redundancy according to an embodiment of the present invention includes a steering wheel 10, a steering column 20, a steering column tube (not shown), an electronic feel simulation device, a torque sensor 41, a rotation angle sensor 42, a mechanical feel simulation device, and a bidirectional torsion spring 60.
Steering column 20 is connected to steering wheel 10. The steering column tube is provided outside the steering column 20. The electronic road feel simulation device comprises a motor 30 and a motor controller, wherein the motor 30 is arranged on the steering column tube and is in transmission connection with the steering column 20, and the motor controller is electrically connected with the motor 30. The torque sensor 41 is mounted on the steering column 20. The rotation angle sensor 42 is mounted on the steering column 20. The mechanical road feel simulation device comprises a magnetorheological rotary damper 50 and a damper controller,
The magnetorheological rotary damper 50 comprises a shell, a rotating member 52, a permanent magnet 53, an electromagnet 54 and magnetorheological fluid, wherein the 5 shell is connected with the steering column tube, the shell is internally provided with an inner cavity and an outer cavity, and the rotating member 52 is rotatably matched with the steering column tube
The inner cavity is internally provided with a rotating piece 52 which is sleeved outside the steering column 20 and is connected with the steering column 20, a permanent magnet 53 and an electromagnet 54 are arranged in the outer cavity, the inner cavity is filled with magnetorheological fluid, the electromagnet 54 is electrically connected with the damper controller, and the permanent magnet 53 is configured to enable the magnetorheological fluid to act on the magnetic field of the permanent magnet 53 after the electromagnet 54 is powered off
Is used as a viscoelastic solid to provide rotational damping for rotation of the rotor 52 within the cavity. The bidirectional torsion spring 60 is disposed outside the steering column 20 and is connected to the rotating member 52 and the steering column tube, respectively.
Specifically, the steering column tube is fixed to the vehicle frame by bolts, and is used for protecting and fixing the electronic road feel simulation device and the mechanical road feel simulation device. The electronic road feel simulation unit provides road feel torque to the driver under normal working conditions by controlling the motor 30.
The permanent magnet 53 and the electromagnet 54 in the magnetorheological rotary damper 50 have the same polarity. When the motor 30 is normal, the 5 electromagnet 54 is normally electrified, the permanent magnet 53 and the electromagnet 54 do not show polarity, and the magnetorheological fluid in the inner cavity is used for supplying magnetic flux
The fluid form is such that it produces negligible rotational damping, and when the motor 30 fails, the motor 30 is de-energized, and the rotational resistance of the rotor 52 in the magnetorheological rotary damper 50 can be adjusted by controlling the energized state of the electromagnet 54 in the magnetorheological rotary damper 50 to provide rotational damping for the rotation of the steering column 20 and steering wheel 10.
For example, after failure of motor 30, electromagnet 54 may be completely de-energized, and magnetorheological 0 fluid in the form of a viscoelastic solid under the magnetic field of permanent magnet 53, providing a defined rotational damping for rotation of rotor 52, preventing loss of motor 30
And the damping force is suddenly reduced after the effect. It will be appreciated by those skilled in the art that the "determined rotational damping" at this point may be designed according to actual requirements, such as damping at low speeds in a vehicle, to achieve "degradation redundancy"
For another example, the damper controller may control the field strength by controlling the electromagnet after the motor 30 fails
The degree of rotation damping is changed, so that a better road feel is provided for a driver. For example, when the vehicle is traveling at a lower speed and the steering wheel angle is greater than 5, damping should be reduced; when the running speed of the vehicle is higher and the steering wheel angle is smaller, the damping should be increased, and the running speed can be basically real
Now "guaranteed redundancy".
The bidirectional torsion spring 60 provides a restoring moment for the rotation of the steering column 20, and the output moment of the motor 30 compensates the torque value generated by the bidirectional torsion spring 60 when the motor 30 is in normal operation, and the bidirectional torsion spring 60 provides sufficient torsional rigidity after the motor 30 is out of operation.
0 For example, in normal operation of the electronic road feel simulator, the magnetorheological rotary damper 50 will not provide rotary damping,
And the bi-directional torsion spring 60 will provide torsional stiffness. The moment generated by the bidirectional torsion spring 60 is compensated by the motor 30 through an algorithm, so that decoupling of electronic road feel simulation and mechanical road feel simulation is realized, and the interference of the mechanical road feel on the electronic road feel is prevented. When the electronic road feel simulation device fails, such as the moment sensor 41 fails, the motor 30 fails, the motor controller fails and the like, the motor 30 is powered off and does not provide road feel moment any more, the magnetorheological rotary damper 50 generates rotary damping under the action of the permanent magnet and provides moment for a driver together with the bidirectional torsion spring 60, so that the driver is prevented from being panicked due to sudden reduction of feedback moment, and the driver can be reminded of the failure of the drive-by-wire steering system due to the change of the feedback moment, and the vehicle can claudication to a safe area as soon as possible.
According to the drive-by-wire steering feel simulation system 1 with failure redundancy, through arranging the motor 30 and the magnetorheological rotary damper 50, electronic feel simulation is realized by utilizing the motor 30, mechanical feel simulation is realized by utilizing the magnetorheological rotary damper 50, and through combining the motor 30 and the magnetorheological rotary damper 50, when the electronic feel simulation device is normal, the permanent magnet 53 and the electromagnet 54 in the magnetorheological rotary damper 50 do not show magnetism, and do not provide damping force, and the motor controller provides target torque for the motor 30 according to the information such as the running speed of a vehicle, the running acceleration of the vehicle, the steering wheel angle, the steering wheel angular speed and the like, and compensates the torsion torque of the bidirectional torsion spring 60 on the basis, so that a driver obtains feel consistent with the traditional steering system. When the electronic road feel simulation device fails, the magnetorheological rotary damper 50 is controlled to generate rotary damping, and the rotary damping and the bidirectional torsion spring 60 provide feedback torque for a driver, so that the driver is prevented from being panicked due to sudden reduction of the feedback torque.
Compared with the electronic road feel simulation system in the related art, particularly a tubular column type electric power steering (C-EPS), the line control steering road feel simulation system 1 with failure redundancy is easier to refit and has strong applicability.
Compared with the road feel simulation system adopting double motors, double winding motors or software redundancy in the related art, the steer-by-wire road feel simulation system 1 with failure redundancy has higher reliability and lower manufacturing cost. The mechanical road feel simulation device can avoid sudden reduction of the feedback moment, avoid the panic of a driver caused by sudden reduction of the feedback moment, and enable the feedback moment to generate certain change so as to remind the driver that the steering system of the driver fails, and enable the driver to slow down in time and stop in a safe area. In addition, by the control of the damper controller, better road feel feedback can be provided after the electronic road feel simulation device fails.
Compared with the road feel simulation system adopting mechanical redundancy in the related art, the scheme structure of the magnetorheological rotary damper 50 and the bidirectional torsion spring 60 is more compact, and an additional speed reducing mechanism or a follow-up mechanism and the like are not needed. And the magnetorheological rotary damper 50 can not provide damping force when the electronic road feel simulation device works normally, the moment generated by the bidirectional torsion spring 60 can be easily compensated according to the linear relation of the rotation angle and the moment, and the mechanical road feel simulation device and the electronic road feel simulation device are decoupled naturally without decoupling devices such as electromagnetic clutches and the like because the inertia and the damping of the motor 30 can be ignored basically, so that the integral structure of the drive-by-wire steering road feel simulation system 1 with failure redundancy can be further simplified, and the cost of the drive-by-wire steering road feel simulation system 1 with failure redundancy can be reduced.
Compared with the system adopting the magneto-rheological damper as the force feedback simulation device in the related art, the drive-by-wire steering road feel simulation system 1 with failure redundancy still uses the motor 30 as an actuator for main road feel simulation, has higher corresponding speed and higher execution precision compared with the magneto-rheological rotary damper 50, and can perform steering wheel centering through algorithm design as well, and the magneto-rheological rotary damper 50 is only used as a backup actuator after the electronic road feel simulation device fails.
Therefore, the steer-by-wire road feel simulation system 1 with failure redundancy according to the embodiment of the invention can provide good failure redundancy and has the advantages of simple structure, easy modification, strong applicability, low cost and the like.
A steer-by-wire feel simulation system 1 with fail-redundancy according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.
In some embodiments of the present invention, as shown in fig. 1-4, a steer-by-wire feel simulation system 1 with fail-redundancy according to an embodiment of the present invention includes a steering wheel 10, a steering column 20, a steering column tube, an electronic feel simulation device, a torque sensor 41, a corner sensor 42, a mechanical feel simulation device, and a bi-directional torsion spring 60.
Specifically, as shown in fig. 1 and 2, the steering wheel 10, the steering column 20, the steering column tube, and the magnetorheological rotary damper 50 are coaxially disposed. This can facilitate the assembly of the steer-by-wire road feel simulation system 1 with failure redundancy, and facilitate the setting and tuning of the magnetorheological rotary damper 50 and the motor 30.
Advantageously, as shown in fig. 1 to 3, the steering column includes an upper steering column and a lower steering column, the housing includes an upper end cap 511, a lower end cap 512, an inner housing 513, and an outer housing 514, the inner cavity is formed in the inner housing 513, the outer housing 514 is disposed radially outside the inner housing 513 and defines the outer cavity together with the outer circumferential surface of the inner housing 513, the upper end cap 511 is disposed at the upper end surface of the inner housing 513 and the lower end cap 512 is disposed at the lower end surface of the inner housing 513, and a bearing 56 is disposed between the rotator 52 and the inner housing 513. In particular, the outer chamber may include an electromagnet chamber and a permanent magnet chamber. By arranging the split steering column which is divided into the upper steering column and the lower steering column, the casting and processing difficulty of the steering column can be reduced. The formation of the inner and outer chambers may be facilitated by the provision of inner housing 513 and outer housing 514. By providing the upper end cap 511 and the lower end cap 512, the connection of the magnetorheological rotary damper 50 to the upper steering column tube and the lower steering column tube can be facilitated.
Specifically, to prevent the magnetic circuit from being disturbed by the external environment, the upper end cap 511, the lower end cap 512, and the outer case 514 are made of a magnetism isolating material. The upper end cap 511, the lower end cap 512 and the inner housing 513 are provided with mounting holes for bolting the housing and the steering column.
Further, both ends of the rotating member 52 are exposed to the upper and lower end caps 511 and 512 and are axially positioned by the snap springs 55, respectively. The bearings 56 may include upper and lower bearings, and sealing rings 57 are provided between the upper and lower end caps 511 and 512, respectively.
Alternatively, as shown in fig. 2, the steering wheel 10 is connected to the steering column 20 by a spline 21. This facilitates the connection of the steering wheel 10 to the steering column 20 and prevents relative rotation between the steering column 20 and the steering wheel 10.
Further, as shown in fig. 2, the steering column 20 and the rotary member 52 are connected by the flat key 22. This facilitates the connection of the steering column 20 to the rotary member 52 and prevents the steering column 20 from rotating relative to the rotary member 52.
In some embodiments, as shown in fig. 1 and 2, the axial direction of the motor 30 is perpendicular to the axial direction of the steering column 20, and the output shaft 31 of the motor 30 is a worm gear 32, and the steering column 20 is provided with a gear 32, and the worm gear is meshed with the gear 32. This allows the motor 30 to be driven with the steering column 20 by engagement of the worm with the gear 32.
In other embodiments, the electric machine 30 is disposed coaxially with the steering column 20 and is drivingly connected via a planetary gear set. This also enables a drive connection of the electric motor 30 to the steering column 20.
In still other embodiments, the axial direction of the motor 30 is spaced parallel to the axial direction of the steering column 20, and the motor shaft of the motor 30 is drivingly connected to the steering column 20 through a column gear set. This also enables a drive connection of the electric motor 30 to the steering column 20.
Specifically, the motor 30 and the steering column 20 perform speed-reducing torque-increasing transmission through a worm and gear 32, the planetary gear set, or the column gear set.
Alternatively, the motor 30 is a single-winding permanent magnet synchronous motor, a direct current motor, or a double-winding permanent magnet synchronous motor. This may facilitate control of the motor 30 and feedback of the simulated torque.
Further, the steer-by-wire road-feel simulation system 1 with fail redundancy may further comprise an alarm device, which may be an acoustic and/or optical alarm device, for emitting an acoustic and/or optical alarm in case of failure of the electronic road-feel simulation device.
The control method of the steer-by-wire feel simulation system 1 with failure redundancy according to the above embodiment of the present invention is described below, including the steps of:
Detecting whether the torque sensor 41 has failed;
If the torque sensor 41 does not fail, detecting whether the motor 30 fails, if the motor 30 does not fail, the motor controller calculates a road torque according to the vehicle running speed, the vehicle running acceleration, the detection values of the torque sensor 41 and the rotation angle sensor 42, and controls the motor 30 according to the road torque, and if the torque sensor 41 or the motor 30 fails, detecting whether the damper controller fails;
If the damper controller fails, the motor 30 is de-energized, the magnetorheological rotary damper 50 is controlled according to the road feel torque, and if the damper controller fails, the motor 30 and the magnetorheological rotary damper 50 are de-energized to provide rotary damping by the magnetorheological rotary damper 50 and to provide a aligning torque by the bidirectional torsion spring 60.
Specifically, under normal working conditions, the torque sensor 41 and the electronic road feel simulation device are normal, and the motor control device calculates road feel torque according to the vehicle running speed, the vehicle running acceleration and the detection values of the torque sensor 41 and the rotation angle sensor 42, and controls the motor 30 to realize electronic road feel feedback, so that a driver has optimal road feel. When the failure of the torque sensor 41 or the failure of the electronic road feel simulation device is detected, it is further detected whether the damper controller fails. If the damper controller does not fail, the motor 30 is powered off, and the electromagnet 54 in the magnetorheological rotary damper 50 is controlled by the damper controller to adjust the magnetic field intensity in the magnetorheological rotary damper 50, thereby changing the rotary damping of the system. For example, when the vehicle is traveling at a lower speed and the steering wheel angle is large, damping should be reduced; when the running speed of the vehicle is higher and the steering wheel angle is smaller, the damping should be increased, so that the 'security redundancy' can be basically realized. If the damper controller also fails, the motor 30 is de-energized and the electromagnet 54 is de-energized, and the magnetorheological fluid exists as a viscoelastic solid under the magnetic field of the permanent magnet 53 to provide a defined rotational damping for the steering, where the rotational stiffness and damping are fixed to achieve "derated redundancy".
According to the control method of the steer-by-wire road feel simulation system with failure redundancy, which is provided by the embodiment of the invention, the steer-by-wire road feel simulation system 1 with failure redundancy is utilized, so that good failure redundancy can be provided, and the control method has the advantages of simple structure, easiness in modification, strong applicability, low cost and the like.
Other configurations and operations of the steer-by-wire feel simulation system 1 with fail-redundancy according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A control method of a steer-by-wire road feel simulation system with failure redundancy, characterized in that the steer-by-wire road feel simulation system with failure redundancy comprises:
A steering wheel;
A steering column connected to the steering wheel;
the steering column tube is arranged outside the steering column;
The electronic road feel simulation device comprises a motor and a motor controller, wherein the motor is arranged on the steering column tube and is in transmission connection with the steering column, and the motor controller is electrically connected with the motor;
a torque sensor mounted on the steering column;
A rotation angle sensor mounted on the steering column;
The mechanical road feel simulation device comprises a magnetorheological rotary damper and a damper controller, wherein the magnetorheological rotary damper comprises a shell, a rotating piece, a permanent magnet, an electromagnet and magnetorheological fluid, the shell is connected with the steering column tube, an inner cavity and an outer cavity are formed in the shell, the rotating piece is rotatably matched in the inner cavity, the rotating piece is sleeved outside the steering column and connected with the steering column, the permanent magnet and the electromagnet are arranged in the outer cavity, the magnetorheological fluid is filled in the inner cavity, the electromagnet is electrically connected with the damper controller, and the permanent magnet is configured to enable the magnetorheological fluid to become a viscoelastic solid under the action of a magnetic field of the permanent magnet after the electromagnet is powered off so as to provide rotary damping for rotation of the rotating piece in the inner cavity;
the bidirectional torsion spring is sleeved outside the steering column and is respectively connected with the rotating piece and the steering column pipe, and the control method comprises the following steps:
detecting whether the moment sensor fails;
If the torque sensor does not fail, detecting whether the motor fails, if the motor does not fail, calculating a road sensing torque by the motor controller according to the vehicle running speed, the vehicle running acceleration and the detection values of the torque sensor and the rotation angle sensor, controlling the motor according to the road sensing torque, and if the torque sensor or the motor fails, detecting whether the damper controller fails;
If the damper controller does not fail, the motor is powered off, the magnetorheological rotary damper is controlled according to the road-sensing torque, and if the damper controller fails, the motor and the magnetorheological rotary damper are powered off so as to provide rotary damping by using the magnetorheological rotary damper and provide aligning torque by using the bidirectional torsion spring.
2. The method of claim 1, wherein the steering wheel, the steering column tube, and the magnetorheological rotary damper are coaxially arranged.
3. The control method of a steer-by-wire feel simulation system with failure redundancy according to claim 1, wherein the steering column includes an upper steering column and a lower steering column, the housing includes an upper end cover, a lower end cover, an inner housing and an outer housing, the inner cavity is formed in the inner housing, the outer housing is disposed radially outside of the inner housing and defines the outer cavity together with an outer peripheral surface of the inner housing, the upper end cover is disposed at an upper end surface of the inner housing and the lower end cover is disposed at a lower end surface of the inner housing, and a bearing is disposed between the rotating member and the inner housing.
4. The method of claim 1, wherein the steering wheel is splined to the steering column.
5. The control method of a steer-by-wire feel simulation system with fail-redundancy according to claim 1, wherein the steering column and the rotating member are connected by a flat key.
6. The control method of a steer-by-wire road feel simulation system with failure redundancy according to claim 1, wherein an axial direction of the motor is perpendicular to an axial direction of the steering column, an output shaft of the motor is a worm, a gear is provided on the steering column, and the worm is meshed with the gear.
7. The method of claim 1, wherein the motor is coaxially disposed with the steering column and is drivingly connected by a planetary gear set.
8. The method for controlling a steer-by-wire feel simulation system with failure redundancy according to claim 1, wherein the axial direction of the motor is arranged at a parallel interval with the axial direction of the steering column, and the motor shaft of the motor is in driving connection with the steering column through a column gear set.
9. The method for controlling a steer-by-wire road feel simulation system with failure redundancy according to claim 1, wherein the motor is a single-winding permanent magnet synchronous motor, a direct current motor or a double-winding permanent magnet synchronous motor.
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| CN115871773B true CN115871773B (en) | 2024-06-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102320324A (en) * | 2011-06-30 | 2012-01-18 | 浙江大学宁波理工学院 | Wire control steering automobile road sensing simulation executing device |
| CN109131555A (en) * | 2017-06-19 | 2019-01-04 | 通用汽车环球科技运作有限责任公司 | For providing the vehicle and wheel steering system of touch feedback |
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| WO2001055617A1 (en) * | 2000-01-31 | 2001-08-02 | Delphi Technologies, Inc. | Tuneable steering damper using magneto-rheological fluid |
| KR100421423B1 (en) * | 2001-02-10 | 2004-03-09 | 한국과학기술원 | An Electric Steering Wheel Device Using A Semi Active Actuator |
| US6899196B2 (en) * | 2003-10-16 | 2005-05-31 | Visteon Global Technologies, Inc. | Driver interface system for steer-by-wire system |
| DE202009007324U1 (en) * | 2009-05-26 | 2010-10-21 | Mobil Elektronik Gmbh | Steering force simulator |
| CN111204371B (en) * | 2020-01-21 | 2021-09-21 | 合肥工业大学 | Automobile steer-by-wire road feel simulation device and control method thereof |
| CN112918548A (en) * | 2021-01-27 | 2021-06-08 | 南京航空航天大学 | Magnetorheological damping road feel stepless speed change steer-by-wire device and method |
| CN114802423B (en) * | 2022-04-29 | 2023-04-28 | 吉林大学 | Drive-by-wire turns to road feel analog system with mechanical redundancy |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320324A (en) * | 2011-06-30 | 2012-01-18 | 浙江大学宁波理工学院 | Wire control steering automobile road sensing simulation executing device |
| CN109131555A (en) * | 2017-06-19 | 2019-01-04 | 通用汽车环球科技运作有限责任公司 | For providing the vehicle and wheel steering system of touch feedback |
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