CN101596915B - Linear control based automobile steering system - Google Patents
Linear control based automobile steering system Download PDFInfo
- Publication number
- CN101596915B CN101596915B CN200910157501XA CN200910157501A CN101596915B CN 101596915 B CN101596915 B CN 101596915B CN 200910157501X A CN200910157501X A CN 200910157501XA CN 200910157501 A CN200910157501 A CN 200910157501A CN 101596915 B CN101596915 B CN 101596915B
- Authority
- CN
- China
- Prior art keywords
- signal
- line traffic
- traffic control
- motor
- cell controller
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a linear control based automobile steering system, which comprises a signal acquisition part, a control unit part and a mechanical execution part and is characterized in that the signal acquisition part acquires a steering signal and a torque signal of a steering wheel, an angle signal of a wheel, a speed signal of the whole automobile, an acceleration signal and a side angular speed, and transmits the signals to the control unit part; and the control unit part analyzes and judges the signals, and outputs a control signal to control the motion of the mechanical execution part. The automobile steering system adopts the control of double motors, wherein an upper motor realizes real simulation of road induction, and a lower motor can realize the accomplishment of steering motion. Because the mechanical connection between the steering and the execution is cancelled, the steering and the execution have a modularized product respectively, so that the system is convenient to update and assemble so as to improve the safety factor of the automobile steering system.
Description
Technical field
The invention belongs to the motor turning field, particularly relate to a kind of automobile steering system based on Linear Control.
Background technology
The individual features that turns to of automobile changes with the speed of a motor vehicle and steering handwheel deflection angle, has influenced the road-holding property of driving to a certain extent.In addition,
There is the system architecture complexity in steering swivel system on the orthodox car, and the cost height is installed defectives such as inconvenience, and the individual features that turns to of automobile changes with the speed of a motor vehicle and steering handwheel deflection angle, has influenced the road-holding property of driving to a certain extent.At present, in known technology, it is the electric power steering of CN200410094938.0 that a kind of application number is arranged, and it is by turning to torque master, electrical motor, controller etc. to constitute.Turn to torque master to be used for detecting the torque that turns to of steering shaft; Electrical motor produces and to be used to the contrary power torque that turns to the power torque of required chaufeur turning force and be used to increase driver's turning force, power torque and be applied to steering hardware against power torque; Controller is according to the torque that turns to that is detected, will drive order and output to electrical motor, when detected turn to torque to be the transition torque time, this drivings order is used to make electrical motor to produce against power torque.According to above-mentioned technology, can realize the Vehicular turn Linear Control, but this technology is not carried out the adjustable design of steering gear ratio at the difference of vehicle ' road conditions, and safe redundant description etc. is carried out in the damage of steer motor and control system.
Summary of the invention
The present invention can not carry out the steering gear ratio setting and not make shortcomings such as safe Redundancy Design at wire-controlled steering system and a research carrying out in order to overcome the orthodox car steering swivel system according to the chaufeur will.The present invention will provide modular construction for user vehicle, and reliability is higher, stable, handling better automobile steering system.
The invention discloses a kind of automobile steering system based on line traffic control, comprise: acquisition of signal part, control unit part and mechanical operating part, it is characterized in that: acquisition of signal is partly gathered the turn sign, torque signal, the angle signal of wheel, vehicle speed signal, acceleration signal and the lateral angle speed signal of car load of bearing circle, be sent to the control unit part, carry out analysis and judgement by control unit, the output control signal is controlled the action of mechanical operating part.
Wherein, control unit partly comprises line traffic control cell controller ECU, is used to receive acquired signal, the output control signal; The signal acquisition part branch comprises torque sensor, first retarder, first clutch, road feel motor, the road feel current sensor that is connected to bearing circle, and acceleration pick-up, wherein torque sensor, road feel motor, first current sensor and acceleration pick-up are connected to the line traffic control cell controller, coherent signal is sent to the line traffic control cell controller, controls the work of above-mentioned a plurality of parts simultaneously by the line traffic control cell controller; The machinery operating part comprises steer motor, second clutch, second retarder, rack and pinion steering gear, displacement pickup and pull pressure sensor, carries out handling maneuver by the control of ECU.
Further, the torque sensor that is connected to bearing circle is transferred to electronic control unit ECU with the rotational angle signal, the comprehensive motor current signal of ECU, speed of a motor vehicle acceleration signal, displacement pickup and the detected signal of pull pressure sensor, control the rotating speed of steer motor, steer motor connects second retarder, by the left and right displacement realization motor turning of transmission gear tooth bar deflector.
Further, steer motor is used for offering chaufeur with feel when the chaufeur steering wheel rotation for bearing circle provides a reverse resistance.Described reverse resistance can vary in size according to the road feel rotating speed of motor.
System disclosed in this invention also comprises standby line traffic control cell controller RECU, when ECU damage or fluctuation of service, switches to RECU and controls.
The present invention has following advantage:
A, the wire-controlled steering system that is used on the automobile can effectively improve the reliability of wire-controlled steering system, owing to adopt Double Motor Control, upper motor is realized the real simulation of road feel, and the next motor can be realized finishing of handling maneuver.
B, system pass through to gather angular signal, torque signal, and lateral acceleration signal, information such as yaw velocity signal by software algorithm, can realize vehicle handling stability.
C, turn to and carry out between cancel mechanical connection, making becomes modular product separately, is convenient to the upgrading and the assembling of system; Thereby also improved the safety factor of automobile steering system.
Description of drawings
Fig. 1: based on the automobile steering system structural representation of line traffic control.
Description of reference numerals:
1, torque sensor; 2, first retarder; 3, first clutch;
4, acceleration pick-up; 5, road feel motor; 6, road feel current sensor;
7, diverted current sensor; 8, steer motor; 9, second clutch;
10, second retarder; 11, rack and pinion steering gear; 12, displacement pickup;
13, pull pressure sensor; 14, line traffic control cell controller ECU;
15, standby line traffic control cell controller RECU.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is specifically described.
Should mainly comprise based on the automobile steering system of line traffic control: acquisition of signal part, control unit part, mechanical operating part and fault-tolerant control part.Its structure is formed as shown in Figure 1, its acquisition of signal part mainly comprises bearing circle, be connected to torque sensor 1, retarder 2, power-transfer clutch 3, road feel motor 5, current sensor 6 and the acceleration pick-up 4 of bearing circle, torque sensor 1, road feel motor 5, current sensor and acceleration pick-up 4 are connected to ECU14, coherent signal is sent to ECU14, controls the work of these parts simultaneously by ECU.The machinery operating part mainly comprises steer motor 8, power-transfer clutch 9, retarder 10, rack and pinion steering gear 11, displacement pickup 12 and pull pressure sensor 13, carries out handling maneuver by the control of ECU14.ECU14 carries out analysis and judgement as the control unit part to signal in the present invention, and then controls mechanical operating part.
Steer motor 8 is for bearing circle provides a reverse resistance, is used for chaufeur to be offered chaufeur with feel when steering wheel rotation.This reverse resistance can vary in size according to the rotating speed of road feel motor 5, thereby the transmitting ratio that meets the chaufeur driving habit can be set.And torque sensor 1 is transferred to ECU14 with the rotational angle signal simultaneously, the comprehensive motor current signal of ECU14, speed of a motor vehicle acceleration signal, displacement pickup 12 and pull pressure sensor 13 detected signals, control the rotating speed of steer motor 8, steer motor 8 connection reducers 10, thus the left and right displacement of transmission gear tooth bar deflector 11 reaches the purpose of motor turning.
Possibility at motor and ECU14 damage, thereby carried out safe Redundancy Design, ECU monitors the current signal of steer motor in real time, thereby know the operation conditions of motor, control system ECU has also been done standby, increased standby RECU15, when ECU14 damages or during fluctuation of service, can carry out safe switching, improve the operation stability of automobile steering system.
Claims (5)
1. automobile steering system based on line traffic control comprises: acquisition of signal part, control unit part and mechanical operating part is characterized in that:
The signal acquisition part branch comprises torque sensor (1), first retarder (2), first clutch (3), road feel motor (5), the road feel current sensor (6) that is connected to bearing circle, and acceleration pick-up (4), acquisition of signal is partly gathered the turn sign, torque signal, the angle signal of wheel, vehicle speed signal, acceleration signal and the lateral angle speed signal of car load of bearing circle, be sent to the control unit part, carry out analysis and judgement by control unit, the output control signal is controlled the action of mechanical operating part;
Control unit partly comprises line traffic control cell controller (14), is used to receive acquired signal, the output control signal;
Described automobile steering system also comprises standby line traffic control cell controller (15), when line traffic control cell controller (14) damage or fluctuation of service, switches to standby line traffic control cell controller (15) and controls.
2. the automobile steering system based on line traffic control according to claim 1 is characterized in that:
Torque sensor (1), road feel motor (5), first current sensor (6) and acceleration pick-up (4) are connected to line traffic control cell controller (14), coherent signal is sent to line traffic control cell controller (14), controls the work of a plurality of parts simultaneously by line traffic control cell controller (14);
The machinery operating part comprises steer motor (8), second clutch (9), second retarder (10), rack and pinion steering gear (11), displacement pickup (12) and pull pressure sensor (13), carries out handling maneuver by the control of line traffic control cell controller (14).
3. the automobile steering system based on line traffic control according to claim 2, it is characterized in that: the torque sensor (1) that is connected to bearing circle is transferred to line traffic control cell controller (14) with the rotational angle signal, the comprehensive motor current signal of line traffic control cell controller (14), speed of a motor vehicle acceleration signal, displacement pickup (12) and the detected signal of pull pressure sensor (13), control the rotating speed of steer motor (8), steer motor (8) connects second retarder (10), by the left and right displacement realization motor turning of transmission gear tooth bar deflector (11).
4. according to claim 2 or 3 described automobile steering systems based on line traffic control, it is characterized in that: steer motor (8) is used for offering chaufeur with feel when the chaufeur steering wheel rotation for bearing circle provides a reverse resistance.
5. the automobile steering system based on line traffic control according to claim 4 is characterized in that: described reverse resistance can vary in size according to the rotating speed of road feel motor (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910157501XA CN101596915B (en) | 2009-07-10 | 2009-07-10 | Linear control based automobile steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910157501XA CN101596915B (en) | 2009-07-10 | 2009-07-10 | Linear control based automobile steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101596915A CN101596915A (en) | 2009-12-09 |
| CN101596915B true CN101596915B (en) | 2011-01-26 |
Family
ID=41418565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910157501XA Expired - Fee Related CN101596915B (en) | 2009-07-10 | 2009-07-10 | Linear control based automobile steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101596915B (en) |
Families Citing this family (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101860305B (en) * | 2010-03-31 | 2014-01-22 | 奇瑞汽车股份有限公司 | Method for controlling road sensing motor of line-controlled steering system |
| JP5494176B2 (en) * | 2010-04-21 | 2014-05-14 | 日産自動車株式会社 | Vehicle steering system |
| CN102407877A (en) * | 2011-08-30 | 2012-04-11 | 奇瑞汽车股份有限公司 | Electric steering transmission control device for automobile steering wheel and control method thereof |
| CN102346473B (en) * | 2011-09-05 | 2012-12-19 | 北京航空航天大学 | Remote vehicle driving control device |
| EP2810850B1 (en) * | 2012-01-31 | 2018-04-25 | Toyota Jidosha Kabushiki Kaisha | Vehicle steering control device |
| CN104271431B (en) * | 2012-05-16 | 2016-07-06 | 日产自动车株式会社 | The steering control device of vehicle and rotating direction control method |
| CN102756753B (en) * | 2012-07-18 | 2015-08-12 | 奇瑞汽车股份有限公司 | Based on the bearing circle of steering-by-wire and braking |
| CN102880127B (en) * | 2012-09-10 | 2014-09-24 | 北京理工大学 | A ground-based unmanned mobile platform control system |
| CN102923183B (en) * | 2012-10-26 | 2015-07-29 | 湖南大学 | A kind of intelligent vehicle steering hardware and control method thereof |
| CN103496395A (en) * | 2013-10-09 | 2014-01-08 | 浙江达世元电动科技有限公司 | Electric steering system and electric steering control method for new-energy automobile |
| JP5981509B2 (en) * | 2014-09-26 | 2016-08-31 | 富士重工業株式会社 | Electric power steering device |
| CN105083373B (en) * | 2015-06-15 | 2017-11-28 | 南京航空航天大学 | A kind of steering-by-wire road feel device and its control method based on parameter Estimation |
| DE102015015148A1 (en) | 2015-11-25 | 2017-06-01 | Thyssenkrupp Ag | Feedback actuator for a steering device |
| CN105667577B (en) * | 2015-12-30 | 2018-02-06 | 南京航空航天大学 | Wire-controlled steering system and control method with sensor signal fault tolerance |
| CN105667575A (en) * | 2015-12-30 | 2016-06-15 | 江苏靖江叉车有限公司 | Steering system for electric tractor |
| CN105774898B (en) * | 2016-03-24 | 2019-04-09 | 奇瑞汽车股份有限公司 | Electric boosting steering system |
| CN105700406A (en) * | 2016-04-11 | 2016-06-22 | 南京农业大学 | Wireless network based large field agricultural machine remote operation and control platform |
| CN105758655A (en) * | 2016-04-18 | 2016-07-13 | 长安大学 | Performance test system for automobile electric power steering system |
| CN106515848B (en) * | 2016-11-10 | 2019-10-25 | 江苏三能动力总成有限公司 | Vehicular steering control apparatus |
| CN106706346A (en) * | 2016-12-30 | 2017-05-24 | 南昌大学 | Steering-by-wire system test bench |
| CN106915385A (en) * | 2017-03-02 | 2017-07-04 | 同济大学 | A kind of line traffic control differential steering system and method for distributed-driving electric automobile |
| CN107150718B (en) * | 2017-06-06 | 2018-04-06 | 吉林大学 | Multi-mode automobile steer-by-wire system |
| WO2019042531A1 (en) * | 2017-08-29 | 2019-03-07 | Thyssenkrupp Presta Ag | Steer-by-wire steering system of a motor vehicle with a feedback actuator having an integrated mrf bearing |
| CN109733460B (en) * | 2018-02-13 | 2023-08-18 | 重庆长安汽车股份有限公司 | Redundant electronic steering brake system |
| CN108438045A (en) * | 2018-03-08 | 2018-08-24 | 南京威尔瑞智能科技有限公司 | A kind of non-tie rod linkage transfer of Flying by wire |
| CN108375480B (en) * | 2018-04-09 | 2020-03-17 | 安徽工程大学 | Automobile steering system test bed |
| KR102033559B1 (en) * | 2018-05-08 | 2019-10-17 | 주식회사 만도 | Steering control apparatus and steering control method and, steering apparatus |
| CN108657264B (en) * | 2018-05-17 | 2024-06-07 | 湖北恒隆凯迩必汽车电动转向系统有限公司 | Road feel moment simulation mechanism and car |
| CN108639148A (en) * | 2018-06-13 | 2018-10-12 | 武汉科技大学 | It is adapted to the wire-controlled steering system of driver's operating habit |
| CN109109972B (en) * | 2018-09-05 | 2021-06-25 | 芜湖中意液压科技股份有限责任公司 | Motor drive steering system based on full hydraulic steering gear |
| CN109720406A (en) * | 2018-11-12 | 2019-05-07 | 浙江安骥汽车科技有限公司 | A kind of vehicle wire-controlled steering system |
| CN109733468B (en) * | 2019-01-25 | 2021-06-22 | 江苏大学 | A steering system and method and vehicle |
| CN110001752B (en) * | 2019-04-29 | 2023-05-16 | 吉林大学 | A retractable steering wheel and its control method |
| CN112829828B (en) * | 2019-11-22 | 2024-08-06 | 罗伯特·博世有限公司 | Signal connector, vehicle steer-by-wire system, control method and vehicle |
| CN111055913A (en) * | 2019-11-29 | 2020-04-24 | 徐州重型机械有限公司 | Crane getting-on operation control steering device and method |
| CN111086556B (en) * | 2020-01-03 | 2021-11-23 | 南京航空航天大学 | Variable transmission ratio optimization method of intelligent steer-by-wire system |
| CN111703498B (en) * | 2020-06-19 | 2022-09-06 | 广汽乘用车(杭州)有限公司 | Control circuit and control method for simple wire-controlled steering system of passenger car |
| CN111762262A (en) * | 2020-07-01 | 2020-10-13 | 中国第一汽车股份有限公司 | Vehicle rear wheel steering control system |
| CN112249149A (en) * | 2020-09-04 | 2021-01-22 | 联创汽车电子有限公司 | Split type steering engine |
| CN112606900A (en) * | 2020-12-30 | 2021-04-06 | 杭叉集团股份有限公司 | Electric steering system, steering control method and electric forklift |
| CN115158453B (en) * | 2021-04-02 | 2024-04-26 | 长沙智能驾驶研究院有限公司 | Vehicle steering control method and device, vehicle and storage medium |
| CN115257911B (en) * | 2022-08-26 | 2023-12-29 | 上海集度汽车有限公司 | Steer-by-wire control system, method, vehicle and storage medium |
| CN115535067B (en) * | 2022-10-18 | 2024-06-04 | 华南农业大学 | Electric power steering device of paddy field power chassis and control method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1590183A (en) * | 2003-08-28 | 2005-03-09 | 日产自动车株式会社 | Vehicle steering system |
| CN2803861Y (en) * | 2005-05-11 | 2006-08-09 | 中国第一汽车集团公司 | Electric boosting steering system |
-
2009
- 2009-07-10 CN CN200910157501XA patent/CN101596915B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1590183A (en) * | 2003-08-28 | 2005-03-09 | 日产自动车株式会社 | Vehicle steering system |
| CN2803861Y (en) * | 2005-05-11 | 2006-08-09 | 中国第一汽车集团公司 | Electric boosting steering system |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2004-34870A 2004.02.05 |
| JP特开2008-201205A 2008.09.04 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101596915A (en) | 2009-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101596915B (en) | Linear control based automobile steering system | |
| CN1326736C (en) | Steer unit for steer-by-wire | |
| US9254866B2 (en) | Method of controlling steering of a ground vehicle | |
| CN102320324B (en) | Wire control steering automobile road sensing simulation executing device | |
| CN103303361B (en) | For the electric power-assisted steering apparatus of vehicle | |
| CN109808764A (en) | Wire-controlled steering device and control method with redundant function | |
| CN102180194B (en) | Adaptive steering system of timely four-wheel drive electric wheel automobile and control method thereof | |
| CN109664937A (en) | Multi-mode line traffic control four-wheel independent steering/drive system and its steering pattern control method | |
| CN209852413U (en) | Wire-controlled steering device with redundancy function | |
| CN109291991A (en) | A kind of bi-motor line traffic control composite turning system and its control method | |
| CN104149845A (en) | Protection device and method for automobile steering drive failure | |
| CN202987262U (en) | Four-wheel independent steering-by-wire system with multiple-steering modal | |
| US6622813B2 (en) | Hybrid steer-by-wire with mechanical link | |
| CN107000782A (en) | Transfer and the method for controlling transfer | |
| CN209258223U (en) | A kind of bi-motor line traffic control composite turning system | |
| CN102530059B (en) | Electric power assisted steering system | |
| CN2803861Y (en) | Electric boosting steering system | |
| CN103569197A (en) | Four-wheel steering system and control method thereof | |
| CN100513240C (en) | Motor-driven power steering system | |
| CN101134472A (en) | Multi-shaft all-wheel electric steering system for vehicle | |
| CN101298255A (en) | Driver road feel simulating apparatus for automobile steering-by-wire system | |
| CN101973312B (en) | Electric power-assisted steering system with VTMS (Variable Transmission Motor System) speed variable transmission ratio | |
| CN209739155U (en) | electronic round of system of electronic round of line control four-wheel initiative steering | |
| CN108945097B (en) | Electric wire control steering system | |
| CN105531177B (en) | The configuration system and method for control vehicle power steering is operated based on powertrain |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |