CN205131349U - Two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism - Google Patents
Two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism Download PDFInfo
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- CN205131349U CN205131349U CN201520904913.6U CN201520904913U CN205131349U CN 205131349 U CN205131349 U CN 205131349U CN 201520904913 U CN201520904913 U CN 201520904913U CN 205131349 U CN205131349 U CN 205131349U
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Abstract
The utility model discloses a two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism aims at improving turning to response characteristic, the life -span of execution and turning to execution systems's redundant security of structure and compact structure nature of drive -by -wire a steering system. It includes: two the same motor, two the same worm gear speed reducer ware assemblies, moment of torsion rotary angle transmitter and rack and pinion formula steering gear assemblies of turning to. Turn to bi -motor and worm gear speed reducer ware assembly that actuating mechanism adopted reverse symmetrical arrangement, two turn to the motor and mesh the rack of rack and pinion formula steering gear rather than the worm gear speed reducer ware of assembly on, moment of torsion rotary angle transmitter is embedded into in the worm gear speed reducer ware assembly.
Description
Technical field
The utility model belongs to automotive field, relates to automobile steer-by-wire system actuating unit, particularly double-motor synchronously driven automobile line traffic control actuating unit.
Background technology
Traditional steering swivel system (mechanical type, fluid pressure type and electric boosting steering system) ensure that automobile travels by the will of chaufeur, but because its steering gear ratio is fixed, the response characteristic of automobile is along with the speed of a motor vehicle and steering wheel angle change, therefore chaufeur must make compensation along with the characteristic of change, thus ensures that automobile can travel by wish under different operating modes.But this have impact on road-holding property and the driver comfort of automobile.Therefore, wire-controlled steering system arises at the historic moment.Wire-controlled steering system freely can design force transfering characteristic and the angle transmission characteristic of steering swivel system, brings very large development space to the design of the cornering properties of automobile.In automobile steer-by-wire system, the parts of conventional steering system, such as Steering gear, tween drive shaft, pump etc. have all been cancelled.Steering operation mechanism and turn to the mechanical connection between actuating unit replace by various electro-mechanical actuating unit.This makes vehicle by the electric signal of electrical drive system to control wheel and bearing circle.
Turning to actuating unit to be realize the actuating system that steering-by-wire controls, is the hardcore of wire-controlled steering system, and its response characteristic, structural redundancy safety and life-span etc. all determine the performance of wire-controlled steering system.
Existing for wire-controlled steering system to turn to actuating unit to have a variety of, the steering-by-wire actuating unit adopting single motor to drive the double-motor of tooth bar is had, as " wire-controlled steering system on automobile " (China Patent Publication No.: CN101229819A) and " there is the automobile-used steer by wire apparatus of flexible redundant unit " (China Patent Publication No.: CN104015781A) in the patent announced; Also the steering-by-wire actuating unit adopting Dual-motors Driving tooth bar is had, as " a kind of automobile steer-by-wire system and control method thereof " (China Patent Publication No.: CN103419835A) and " being applied to the redundant fault-tolerant control method of double-motor steering-by-wire system " (China Patent Publication No.: CN102320325A).
But just give the schematic diagram of system in above patent, concrete structure and layout are also unclear, and the purpose of this utility model is exactly be that the double-motor announcing a kind of automobile steer-by-wire system synchronously drives the specific constructive form turning to actuating unit.Double-motor synchronously drives and turns to actuating unit, improve the response characteristic of system, double-motor has on average been shared and has been turned to execution moment, take full advantage of the power of double-motor, improve the life-span of mechanism, what when a motor does not work, another motor still can ensure wire-controlled steering system turns to execution, in addition, torque angle sensor embeds in worm type of reduction gearing assembly, makes the space of mechanism assembly compacter, is convenient to installation and the layout of mechanism.
Utility model content
The purpose of this utility model is exactly be that the double-motor announcing a kind of automobile steer-by-wire system synchronously drives the specific constructive form turning to actuating unit.
The utility model, for solving the problems of the technologies described above, provides following technical scheme:
The double-motor of automobile steer-by-wire system synchronously drives and turns to an actuating unit, is made up of two identical steer motor, two identical worm type of reduction gearing assembly, torque angle sensor and rack and pinion steering gear assemblies; The worm screw of two identical steer motor output shafts and two worm type of reduction gearing assemblies is coaxially fastenedly connected; Two identical steer motor and both the worm reducer assemblies be fastenedly connected with it are engaged on the left and right tooth bar of rack and pinion steering gear by the worm-wheel shaft miniature gears assembly of worm type of reduction gearing in the mode that reverse symmetry is arranged; Described torque angle sensor is embedded in worm type of reduction gearing assembly.
Two identical steer motor (6) adopt permanent magnet brush DC machine, be fastened on worm type of reduction gearing by hexagonal bar iron (7) by described steer motor, the output shaft of described two steer motor is also supported by angular contact ball bearing (32) with two decelerator worms (33) coaxial tight joint.
Worm type of reduction gearing assembly left and right is identical, its assembly comprises: reducer shell lid (10), retarder gasket seal (11), angular contact ball bearing (12), reducer shell seat (13), retarder worm gear assembly (14), deflector gasket seal (15), hexagonal bar iron (16), deep groove ball bearing (17), worm-wheel shaft miniature gears assembly (18), steering gear housing (19), decelerator worm (33), torque angle sensor (34), sleeve (35), angular contact ball bearing (36), angular contact ball bearing (37), screw (38), described reducer shell lid (10) is fixed on reducer shell seat (13) by screw (38), described hexagonal bar iron (16) is by reducer shell lid (10), deflector gasket seal (11), steering gear housing (19) three's tight joint, the mode that described torque angle sensor (34) connects retarder worm gear assembly (14) output shaft connection worm-wheel shaft miniature gears assembly (18) by input shaft is embedded in worm type of reduction gearing assembly, described angular contact ball bearing (12) and deep groove ball bearing (17) are for supporting retarder worm gear assembly (14), described angular contact ball bearing (36) and angular contact ball bearing (37) are for supporting worm-wheel shaft miniature gears assembly (18), described sleeve (35) is for fixed angles contact ball bearing (36), the steering torque of described steer motor slows down and amplifies through described decelerator worm, retarder worm gear assembly and exported by worm-wheel shaft miniature gears assembly.
Rack and pinion steering gear adopts symmetrical structure, described steering assembly comprises: screw rod (1), ball pivot housing (2), hexagonal nut (3), steering track rod dust boot (8), steering track rod dust boot elastic hoop (9), steering gear housing (19), stage clip (20), slack adjuster assembly (21), dust protecting cap (22), steering rack joint branch unit (23), steering gear rack (24), dust boot pipe collar (25), steering housing rubber cradle (26), deflector rubber cradle clamp (27), rack bush (28), deflector sleeve (29), steering gear housing (30), worm-wheel shaft miniature gears assembly (31), described stage clip (20) and slack adjuster assembly (21) are for ensureing the good engagement of steering gear rack (24) and worm-wheel shaft miniature gears assembly (18), the steering torque being delivered to steering gear rack (24) is delivered to screw rod (1) by described steering rack joint branch unit (23), hexagonal nut (3), ball pivot housing (2), described dust protecting cap (22), steering track rod dust boot (8), steering housing rubber cradle (26) all can ensure the leak tightness of steering assembly, described steering track rod dust boot elastic hoop (9), dust boot pipe collar (25), steering housing rubber cradle (26), deflector rubber cradle clamp (27) are for fastening steering track rod dust boot (8), described rack bush (28) is for the motion guide of steering gear rack (24) and steering gear housing (30), described deflector sleeve (29) is for connecting left and right two steering gear housings (19).
Torque angle sensor comprises: 34 (1), corner transfer device, 34 (2), sensor torsion bar angle detecting device, 34 (3), sensor torsion bar, 34 (4), sensor outer housing, 34 (5), axle head fastening sleeve, 34 (6), sensor torsion bar corner transfer device, 34 (7), carbon brush supporting rod, 34 (8), carbon brush, 34 (9), carbon brush supporting rod, 34 (10), electric supply installation, 34 (11), axle head fastening sleeve, 34 (12), sensor torsion bar angle detecting device, 34 (13), sensor torsion bar corner transfer device, 34 (14), circuit card, the input end of described torque angle sensor connects retarder turbine assembly (14), and the mouth of torque angle sensor connects turbo-shaft miniature gears assembly (18).
Principle of work of the present utility model:
The control policy of wire-controlled steering system is divided into top level control strategy (comprising active steering control policy and road feel control policy) and lower floor's control policy.Lower floor's control policy control steer motor realizes the target front wheel corner that top level control strategy is determined, adopts the synchronously driven implementation procedure of actuating unit that turns to of double-motor as follows:
Go out the instruction of target front wheel corner by the decision-making of wire-controlled steering system master controller to be sent to turn to and to perform Dual-motors Driving device, double-motor is driven by Dual-motors Driving device, the worm screw of Dual-motors Driving worm type of reduction gearing, worm screw drives worm gear assembly, retarder worm gear assembly is as the input end of torque angle sensor, the mouth of torque angle sensor connects and drives worm-wheel shaft miniature gears assembly, worm-wheel shaft miniature gears assembly is engaged to the tooth bar of rack and pinion steering gear and drives steering gear rack, the steering torque of steering gear rack is by steering rack joint branch unit, hexagonal nut, ball pivot housing is delivered to screw rod, finally left and right wheels is driven to realize turning to by screw rod, the torque corner value of feedback recorded in conjunction with torque angle sensor adjusts the control command being sent to and turning to and perform Dual-motors Driving device in real time.
The beneficial effects of the utility model are:
1. torque angle sensor has been embedded in worm type of reduction gearing and steering gear housing and makes structure compacter, saves arrangement space.
2. double-motor is synchronously driven turns to actuating unit, improves the response characteristic of system;
3. double-motor has on average been shared and has been turned to execution moment, takes full advantage of the power of double-motor, improves the life-span of mechanism;
4. when a motor does not work, another motor still can ensure to turn to execution, ensure that turning to of wire-controlled steering system performs redundant safety, accelerates the speed of wire-controlled steering system commercialization.
Accompanying drawing explanation
The double-motor of accompanying drawing 1. a kind of automobile steer-by-wire system described in the utility model synchronously drives the Figure of abstract turning to actuating unit.
The double-motor of accompanying drawing 2. a kind of automobile steer-by-wire system described in the utility model synchronously drives the front elevation turning to actuating unit.
The double-motor of accompanying drawing 3. a kind of automobile steer-by-wire system described in the utility model synchronously drives the cutaway view of the rack and pinion steering gear turning to actuating unit.
Accompanying drawing 4 (1). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the constructional drawing of the worm type of reduction gearing turning to actuating unit.
Accompanying drawing 4 (2). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the concrete structure cutaway view of the worm type of reduction gearing turning to actuating unit.
Accompanying drawing 5 (1). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the right-hand part component of the rack and pinion steering gear turning to actuating unit.
Accompanying drawing 5 (2). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the rack and pinion steering gear rubber cradle clamp part sectional view turning to actuating unit.
Accompanying drawing 6 (1). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the steer motor and worm type of reduction gearing Mating graph that turn to actuating unit.
Accompanying drawing 6 (2). the double-motor of a kind of automobile steer-by-wire system described in the utility model synchronously drives the cutaway view turning to the steer motor of actuating unit to connect with worm type of reduction gearing.
The double-motor of accompanying drawing 7. a kind of automobile steer-by-wire system described in the utility model synchronously drives the partial enlarged drawing of the torque angle sensor turning to actuating unit.
Wherein, the parts name that Reference numeral is corresponding is called:
1, screw rod, 2, ball pivot housing, 3, hexagonal nut, 4, reducer shell seat, 5, reducer shell lid, 6, steer motor, 7, hexagonal bar iron, 8, steering track rod dust boot, 9, steering track rod dust boot elastic hoop, 10, reducer shell lid, 11, retarder gasket seal, 12, angular contact ball bearing, 13, reducer shell seat, 14, retarder turbine assembly, 15, deflector gasket seal, 16, hexagonal bar iron, 17, deep groove ball bearing, 18, turbo-shaft miniature gears assembly, 19, steering gear housing, 20, stage clip, 21, slack adjuster assembly, 22, dust protecting cap, 23, steering rack joint branch unit, 24, steering gear rack, 25, dust boot pipe collar, 26, steering housing rubber cradle, 27, deflector rubber cradle clamp, 28, rack bush, 29, deflector sleeve, 30, steering gear housing, 31, turbo-shaft miniature gears assembly, 32, angular contact ball bearing, 33, decelerator worm, 34, torque angle sensor (34 (1), corner transfer device, 34 (2), sensor torsion bar angle detecting device, 34 (3), sensor torsion bar, 34 (4), sensor outer housing, 34 (5), axle head fastening sleeve, 34 (6), sensor torsion bar corner transfer device, 34 (7), carbon brush supporting rod, 34 (8), carbon brush, 34 (9), carbon brush supporting rod, 34 (10), electric supply installation, 34 (11), axle head fastening sleeve, 34 (12), sensor torsion bar angle detecting device, 34 (13), sensor torsion bar corner transfer device, 34 (14), circuit card), 35, sleeve, 36, angular contact ball bearing, 37, angular contact ball bearing, 38, screw.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described in detail:
As accompanying drawing 2, 3, 4 (1), 4 (2), 6 (1), 6 (2), shown in 7, the double-motor that the utility model discloses a kind of automobile steer-by-wire system synchronously drives and turns to actuating unit, comprises 1, screw rod, 2, ball pivot housing, 3, hexagonal nut, 4, reducer shell seat, 5, reducer shell lid, 6, steer motor, 7, hexagonal bar iron, 8, steering track rod dust boot, 9, steering track rod dust boot elastic hoop, 10, reducer shell lid, 11, retarder gasket seal, 12, angular contact ball bearing, 13, reducer shell seat, 14, retarder turbine assembly, 15, deflector gasket seal, 16, hexagonal bar iron, 17, deep groove ball bearing, 18, turbo-shaft miniature gears assembly, 19, steering gear housing, 20, stage clip, 21, slack adjuster assembly, 22, dust protecting cap, 23, steering rack joint branch unit, 24, steering gear rack, 25, dust boot pipe collar, 26, steering housing rubber cradle, 27, deflector rubber cradle clamp, 28, rack bush, 29, deflector sleeve, 30, steering gear housing, 31, turbo-shaft miniature gears assembly, 32, angular contact ball bearing, 33, decelerator worm, 34, torque angle sensor (34 (1), corner transfer device, 34 (2), sensor torsion bar angle detecting device, 34 (3), sensor torsion bar, 34 (4), sensor outer housing, 34 (5), axle head fastening sleeve, 34 (6), sensor torsion bar corner transfer device, 34 (7), carbon brush supporting rod, 34 (8), carbon brush, 34 (9), carbon brush supporting rod, 34 (10), electric supply installation, 34 (11), axle head fastening sleeve, 34 (12), sensor torsion bar angle detecting device, 34 (13), sensor torsion bar corner transfer device, 34 (14), circuit card), 35, sleeve, 36, angular contact ball bearing, 37, angular contact ball bearing, 38, screw, identical and the symmetrical structure of some of them does not mark in the accompanying drawings.
As shown in accompanying drawing 2,4 (1), 4 (2), actuating unit is turned to be made up of two identical steer motor, two identical worm type of reduction gearing assemblies and rack and pinion steering gear assembly; The worm screw of described two identical steer motor output shafts and worm type of reduction gearing assembly is bolted connection; The mode that described two identical steer motor and both the worm reducer assemblies be fastenedly connected with it are arranged with reverse symmetry by the worm-wheel shaft miniature gears assembly of turbine and worm decelerator is engaged on the tooth bar of rack and pinion steering gear.Two identical steer motor and the worm reducer assembly be fastenedly connected with it bear 20 degree respectively to vertical axis polarization.
As shown in accompanying drawing 2,3, described dust protecting cap, steering track rod dust boot, steering housing rubber cradle all can ensure the leak tightness of steering assembly; Described steering track rod dust boot elastic hoop, dust boot pipe collar, steering housing rubber cradle, deflector rubber cradle clamp are used for fastening steering track rod dust boot; Described rack bush is used for the motion guide of steering gear rack and steering gear housing; Described deflector sleeve is for connecting left and right two steering gear housings.
As shown in accompanying drawing 4 (1), 4 (2), described hexagonal bar iron is by reducer shell lid, deflector gasket seal, steering gear housing three tight joint; Described angular contact ball bearing and deep groove ball bearing are for supporting retarder worm gear assembly; Described angular contact ball bearing and angular contact ball bearing are for supporting worm-wheel shaft miniature gears assembly; Described sleeve is used for fixed angles contact ball bearing; Stage clip and slack adjuster assembly are for ensureing the good engagement of steering gear rack and worm-wheel shaft miniature gears assembly.
As shown in accompanying drawing 5 (1), 5 (2), the steering torque of steer motor amplifies through described decelerator worm, retarder worm gear reducer and is exported by worm-wheel shaft miniature gears assembly.The steering torque being delivered to steering gear rack is delivered to screw rod by described steering rack joint branch unit, hexagonal nut, ball pivot housing, drives left and right turn wheel to realize turning to by screw rod.
As shown in accompanying drawing 6 (1), 6 (2), described reducer shell lid is fixed on reducer shell seat by screw; Two identical steer motor adopt permanent magnet brush DC machine, and be fastened on worm type of reduction gearing by hexagonal bar iron by described steer motor, the output shaft of described steer motor is coaxially connected with decelerator worm by angular contact ball bearing.
As shown in Figure 7, the input end of torque angle sensor connects retarder turbine assembly, and the mouth of torque angle sensor connects turbo-shaft miniature gears assembly.
Claims (4)
1. the double-motor of an automobile steer-by-wire system synchronously drives and turns to actuating unit, it is characterized in that, be made up of two identical steer motor (6), two identical worm type of reduction gearing assembly, torque angle sensor (34) and rack and pinion steering gear assemblies; The worm screw of described two identical steer motor output shafts and two worm type of reduction gearing assemblies is coaxially fastenedly connected; Described identical steer motor and both the worm reducer assemblies be fastenedly connected with it are engaged on the left and right tooth bar of rack and pinion steering gear by the worm-wheel shaft miniature gears assembly of worm type of reduction gearing in the mode that reverse symmetry is arranged; Described torque angle sensor is embedded in worm type of reduction gearing assembly.
2. a kind of double-motor of automobile steer-by-wire system synchronously drives and turns to actuating unit as claimed in claim 1, it is characterized in that, two identical steer motor (6) adopt permanent magnet brush DC machine, described two steer motor are fastened on two worm type of reduction gearings by hexagonal bar iron (7), and the output shaft of described two steer motor is also supported by angular contact ball bearing (32) with two decelerator worms (33) coaxial tight joint.
3. a kind of double-motor of automobile steer-by-wire system synchronously drives and turns to actuating unit as claimed in claim 1, it is characterized in that, two worm type of reduction gearing assemblies are identical, described worm type of reduction gearing assembly comprises: reducer shell lid (10), retarder gasket seal (11), angular contact ball bearing (12), reducer shell seat (13), retarder worm gear assembly (14), deflector gasket seal (15), hexagonal bar iron (16), deep groove ball bearing (17), worm-wheel shaft miniature gears assembly (18), steering gear housing (19), decelerator worm (33), torque angle sensor (34), sleeve (35), angular contact ball bearing (36), angular contact ball bearing (37), screw (38), described reducer shell lid (10) is fixed on reducer shell seat (13) by screw (38), described hexagonal bar iron (16) is by reducer shell lid (10), deflector gasket seal (11), steering gear housing (19) three's tight joint, the mode that described torque angle sensor (34) connects retarder worm gear assembly (14) output shaft connection worm-wheel shaft miniature gears assembly (18) by input shaft is embedded in worm type of reduction gearing assembly, described angular contact ball bearing (12) and deep groove ball bearing (17) are for supporting retarder worm gear assembly (14), described angular contact ball bearing (36) and angular contact ball bearing (37) are for supporting worm-wheel shaft miniature gears assembly (18), described sleeve (35) is for fixed angles contact ball bearing (36), the steering torque of described steer motor slows down and amplifies through described decelerator worm, retarder worm gear assembly and exported by worm-wheel shaft miniature gears assembly.
4. a kind of double-motor of automobile steer-by-wire system synchronously drives and turns to actuating unit as claimed in claim 1, it is characterized in that, rack and pinion steering gear adopts symmetrical structure, described steering assembly comprises: screw rod (1), ball pivot housing (2), hexagonal nut (3), steering track rod dust boot (8), steering track rod dust boot elastic hoop (9), steering gear housing (19), stage clip (20), slack adjuster assembly (21), dust protecting cap (22), steering rack joint branch unit (23), steering gear rack (24), dust boot pipe collar (25), steering housing rubber cradle (26), deflector rubber cradle clamp (27), rack bush (28), deflector sleeve (29), steering gear housing (30), worm-wheel shaft miniature gears assembly (31), described stage clip (20) and slack adjuster assembly (21) are for ensureing the good engagement of steering gear rack (24) and worm-wheel shaft miniature gears assembly (18), the steering torque being delivered to steering gear rack (24) is delivered to screw rod (1) by described steering rack joint branch unit (23), hexagonal nut (3), ball pivot housing (2), described dust protecting cap (22), steering track rod dust boot (8), steering housing rubber cradle (26) all can ensure the leak tightness of steering assembly, described steering track rod dust boot elastic hoop (9), dust boot pipe collar (25), steering housing rubber cradle (26), deflector rubber cradle clamp (27) are for fastening steering track rod dust boot (8), described rack bush (28) is for the motion guide of steering gear rack (24) and steering gear housing (30), described deflector sleeve (29) is for connecting left and right two steering gear housings (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520904913.6U CN205131349U (en) | 2015-11-13 | 2015-11-13 | Two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520904913.6U CN205131349U (en) | 2015-11-13 | 2015-11-13 | Two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205131349U true CN205131349U (en) | 2016-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520904913.6U Expired - Fee Related CN205131349U (en) | 2015-11-13 | 2015-11-13 | Two synchronous motors drive of car drive -by -wire a steering system turns to actuating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205131349U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235738A (en) * | 2015-11-13 | 2016-01-13 | 吉林大学 | Dual-motor synchronous-driving steering actuator of automobile steer-by-wire system |
| CN107101758A (en) * | 2017-05-23 | 2017-08-29 | 北京航空航天大学 | A kind of turbine pump dynamic torque measurement apparatus |
| CN110709310A (en) * | 2017-05-30 | 2020-01-17 | 蒂森克虏伯普利斯坦股份公司 | Electronic control unit for power steering unit |
| CN111055919A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111605611A (en) * | 2020-05-25 | 2020-09-01 | 杭州世宝汽车方向机有限公司 | Electric intelligent linear servo tie rod vehicle steering method and system |
-
2015
- 2015-11-13 CN CN201520904913.6U patent/CN205131349U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105235738A (en) * | 2015-11-13 | 2016-01-13 | 吉林大学 | Dual-motor synchronous-driving steering actuator of automobile steer-by-wire system |
| CN107101758A (en) * | 2017-05-23 | 2017-08-29 | 北京航空航天大学 | A kind of turbine pump dynamic torque measurement apparatus |
| CN107101758B (en) * | 2017-05-23 | 2019-06-11 | 北京航空航天大学 | A kind of turbine pump dynamic torque measuring device |
| CN110709310A (en) * | 2017-05-30 | 2020-01-17 | 蒂森克虏伯普利斯坦股份公司 | Electronic control unit for power steering unit |
| CN111055919A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111055919B (en) * | 2019-12-18 | 2021-09-17 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and multi-objective optimization method |
| CN111605611A (en) * | 2020-05-25 | 2020-09-01 | 杭州世宝汽车方向机有限公司 | Electric intelligent linear servo tie rod vehicle steering method and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160406 Termination date: 20181113 |