CN106891989B - Electronic power assist steering system and its fault handling method, motor and controller - Google Patents
Electronic power assist steering system and its fault handling method, motor and controller Download PDFInfo
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- CN106891989B CN106891989B CN201510960890.5A CN201510960890A CN106891989B CN 106891989 B CN106891989 B CN 106891989B CN 201510960890 A CN201510960890 A CN 201510960890A CN 106891989 B CN106891989 B CN 106891989B
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- assist steering
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004804 winding Methods 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims description 20
- 238000003672 processing method Methods 0.000 claims description 15
- 229920003023 plastic Polymers 0.000 claims description 14
- 239000004033 plastic Substances 0.000 claims description 14
- 239000003292 glue Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 claims 6
- 210000000554 iris Anatomy 0.000 claims 4
- 230000005389 magnetism Effects 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000002620 method output Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Electronic power assist steering system and its fault handling method, motor and controller, wherein the motor includes: motor shaft, Motor torque sensor, shell, stator winding and rotor；Wherein, the motor shaft is arranged in the horizontal median axis of the shell, and the front end of the motor shaft is stretched out except the shell, and rear end is located within the shell and is fixedly mounted with the shell, and the motor shaft passes through the rotor, and is interference fitted with the rotor；The Motor torque sensor is fixedly mounted on the front end of the motor shaft；The stator winding is adapted with the rotor, and is fixedly mounted on the inner wall of the shell.Above-mentioned scheme, can be detached from the worm gear gear ring in magnetic shoe or magnetic cylinder rupture and deceleration mechanism from iron core or worm-gear toothing is broken caused EPS system failure and detects, and the safety of driving can be improved.
Description
Technical field
The invention belongs to automobile technical fields, more particularly to a kind of electronic power assist steering system and its troubleshooting side
Method, motor and controller.
Background technique
Electronic power assist steering system (Electrical Power Steering, EPS system), generally by manual steering system
System is plus the composition such as torque sensor, vehicle speed sensor, controller, retarder, boosting motor, it is in tradition machinery steering system
On the basis of system, according to the speed of operation signal of dtc signal and automobile on steering wheel, made using electronic control unit electronic
Machine generates correspondingly sized and direction auxiliary power, and driver is assisted to carry out steering operation.
Steering motor in current EPS system mostly uses permanent magnet synchronous motor, and the motor of the type has high-efficient, body
The advantages that product is small, power density is big, noise is small.But since the rotor of steering motor is glued by multi-disc magnetic shoe or round magnetic cylinder
It is constituted in rotor core ditch, once magnetic shoe or magnetic cylinder rupture or directly falling off from rotor core, it is stuck to will cause rotor,
And then cause EPS system stuck.
In addition, the deceleration mechanism in EPS system mostly uses turbine and worm decelerator.When the worm gear gear ring in deceleration mechanism
When disengaging or worm-gear toothing are broken from iron core, EPS system power steering disabler will also result in.
But it in the prior art can not be to since the worm gear gear ring in magnetic shoe or magnetic cylinder rupture and deceleration mechanism be from iron core
EPS system failure caused by upper disengaging or worm-gear toothing fracture is detected accordingly, there is safety difference.
Summary of the invention
How the technical issues of embodiment of the present invention solves is to the worm-gear toothing in magnetic shoe or magnetic cylinder rupture and deceleration mechanism
The EPS system failure that circle is detached from from iron core or worm-gear toothing fracture is caused is detected, and the safety of driving is improved.
To solve the above problems, the electronics power-assisted turns the embodiment of the invention provides a kind of electronic power assist steering motor
Include: to motor
Motor shaft, Motor torque sensor, shell, stator winding and rotor；Wherein:
The motor shaft is arranged in the horizontal median axis of the shell, and the shell is stretched out in the front end of the motor shaft
Except body, rear end is located within the shell and is fixedly mounted with the shell, and the motor shaft passes through the rotor, and
It is interference fitted with the rotor；
The Motor torque sensor is fixedly mounted on the front end of the motor shaft；
The stator winding is adapted with the rotor, and is fixedly mounted on the inner wall of the shell.
Optionally, the rotor includes rotor core and the permanent-magnet materials that is arranged on the rotor core outer wall.
Optionally, the permanent-magnet materials is pasted on the outer wall of the rotor core by glue.
Optionally, the permanent-magnet materials is magnetic shoe or magnetic cylinder.
The embodiment of the invention also provides a kind of electronic power assist steering system failure processing method, the electronic power assist steerings
System includes above-mentioned electronic power assist steering motor, which comprises
Obtain the electronic power assist steering motor of the Motor torque sensor transmission of the electronic power assist steering motor
Reality output torque；
The command torque of the electronic power assist steering motor is calculated according to the manual steering torque of driver；
When meeting preset first condition between the reality output torque and command torque of the electronic power assist steering motor
When, determine electronic power assist steering system jam.
Optionally, the preset first condition is that the reality output torque of the electronic power assist steering motor and instruction are turned round
The direction of square is inconsistent or the reality output torque of the electronic power assist steering motor is consistent with the direction of command torque, but
It is the difference of the two size greater than preset threshold value.
Optionally, the method also includes:
Obtain the steering wheel torque on hand that steering wheel torque sensor is sent；
When the steering wheel for determining and obtaining is on hand between torque and the reality output torque of the electronic power assist steering motor
When meeting preset second condition, electronic power assist steering system jam is determined.
Optionally, the preset second condition is the reality of steering wheel torque and the electronic power assist steering motor on hand
The direction of output torque is inconsistent.
Optionally, when determining electronic power assist steering system jam, the method also includes:
Cut off the power steering of the electronic power assist steering system output.
Optionally, when determining electronic power assist steering system jam, further includes:
Export the prompt information of the electronic power assist steering system jam.
Optionally, the prompt information of the output electronic power assist steering system jam, comprising: by lighting event
Barrier lamp exports the prompt information of the electronic power assist steering system jam.
The embodiment of the invention also provides a kind of electronic power-assisted steering controllers, with above-mentioned electronic power assist steering motor coupling
It connects, the electronic power-assisted steering controller includes:
First acquisition unit, suitable for obtaining described in the Motor torque sensor transmission of above-mentioned electronic power assist steering motor
The reality output torque of electronic power assist steering motor；
The finger of the electronic power assist steering motor is calculated suitable for the manual steering torque according to driver for computing unit
Enable torque；
First judging unit, between the reality output torque and command torque suitable for judging the electronic power assist steering motor
Whether preset first condition is met；
Failure determination unit, suitable for when full between the reality output torque and command torque of the electronic power assist steering motor
When the preset first condition of foot, electronic power assist steering system jam is determined.
Optionally, the preset first condition is that the reality output torque of the electronic power assist steering motor and instruction are turned round
The direction of square is inconsistent or the reality output torque of the electronic power assist steering motor is consistent with the direction of command torque, but
It is the difference of the two size greater than preset threshold value.
Optionally, the controller further include:
Second acquisition unit, the steering wheel torque on hand sent suitable for obtaining steering wheel torque sensor；
Second judgment unit, suitable for judging the reality with the steering wheel torque and the electronic power assist steering motor on hand that obtain
Whether preset second condition is met between the output torque of border；
The failure determination unit is further adapted for working as the steering wheel for determining and obtaining torque and the electronic power assist steering on hand
When meeting preset second condition between the reality output torque of motor, electronic power assist steering system jam is determined.
Optionally, the preset second condition is the reality of steering wheel torque and the electronic power assist steering motor on hand
The direction of output torque is inconsistent.
Optionally, the controller further include: control unit is suitable for when determining electronic power assist steering system jam
When, cut off the power steering of the electronic power assist steering system output.
Optionally, the controller further include:
Alarm Unit, suitable for when determining electronic power assist steering system jam, exporting the electronic power assist steering system
The prompt information that system breaks down.
Optionally, the Alarm Unit is suitable for exporting the electronic power assist steering system jam by lighting trouble light
Prompt information.
The embodiment of the invention also provides a kind of electronic power assist steering systems, and the system comprises above-mentioned electronics power-assisteds to turn
To motor and above-mentioned electronic power-assisted steering controller.
Compared with prior art, technical solution of the present invention has the advantage that
Above-mentioned scheme, by being provided with Motor torque sensing on the front end of the motor shaft of electronic power assist steering motor
Device can monitor the reality output torque of the electronic power assist steering motor in real time, and can be obtained according to monitoring
The reality output torque of electronic power assist steering motor detect corresponding EPS system failure, and take appropriate measures, can be with
Improve the safety of driving.
Further, when electronic power-assisted steering controller is detected according to the reality output torque of electronic power assist steering motor
When corresponding EPS system failure, the power steering of EPS system output can be cut off, can be prevented since EPS system is in failure shape
The generation of safety accident caused by the power steering of state output, can be further improved the safety of driving.
Further, when electronic power-assisted steering controller is detected according to the reality output torque of electronic power assist steering motor
When corresponding EPS system failure, by exporting corresponding EPS system fault cues information, can to related personnel to prompt, from
And therefore the generation for the accident that takes measures to prevent can be further improved the safety of driving.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of electronic power assist steering motor in the prior art；
Fig. 2 is the flow chart of the structural schematic diagram of deceleration worm gear in the prior art；
Fig. 3 is the structural schematic diagram of one of inventive embodiments electronic power assist steering motor；
Fig. 4 is the flow chart of the processing method of one of embodiment of the present invention electronic power assist steering system failure；
Fig. 5 is the flow chart of the processing method of another electronic power assist steering system failure in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the electronic power-assisted steering controller in the embodiment of the present invention.
Specific embodiment
As shown in Figure 1, the electronic power assist steering motor (brushless motor) in the EPS system of the prior art, may include shell
Body 100, stator winding 110, permanent-magnet materials 120, end bearing 130, motor shaft 140, rotor core 150, ring flange 160,
Head bearings 170.Wherein, stator winding 110 is fixed on the inner wall of shell 100, stator winding 110 and the fixed company of ring flange 160
It connects, the both ends of motor shaft 140 are respectively disposed with head bearings 170 and the outer ring of end bearing 130, two bearings is separately fixed at method
In the bearing hole that blue disk 160 and shell 100 are reserved, motor shaft 140 passes through rotor core 150 and is interference fitted therewith, iron rotor
150 outer wall of iron core is disposed with permanent-magnet materials 120, and permanent-magnet materials 120 pastes the outer wall in rotor core 150 by glue,
Magnetic shoe is such as used, then magnetic shoe is uniformly distributed for 360 degree in the circumferential direction of rotor core 150, forms the tubular layout similar with magnetic cylinder, magnetic
Watt or magnetic cylinder be permanent magnet material.
In existing electronic power assist steering motor, the permanent-magnet materials 120 being arranged on rotor core 150 is generally using magnetic shoe
Or magnetic cylinder.Wherein, magnetic shoe or magnetic cylinder have frangible attribute, may occur in use magnetic shoe fall off or magnetic cylinder it is damaged after
The situation to fall off.And once magnetic shoe or magnetic cylinder are fallen off, electronic power assist steering motor will be unable to export effective power steering,
And the magnetic shoe or magnetic cylinder to fall off can be stuck among stator winding 110 and rotor core 150, it is easy to cause motor stuck, in turn
Automobile steering is stuck, and due to rotor can not by itself occur failure effectively pass (such as inform control
Device), so may to have felt Vehicular turn heavy or even stuck by driver at this time, but the EPS system trouble light in instrument
And it is non-lit up, the warning function under this failure is not implemented.
Fig. 2 shows the structural schematic diagrams of one of existing EPS system deceleration worm gear.As shown in Fig. 2, deceleration worm gear
It may include plastics worm gear gear ring 180, rotor core 150, plastics worm gear gear ring 180 is fixed on rotor core by injection molding manner
On 150 outer ring.Wherein, the situation that the tooth on plastics worm gear gear ring 180 may be broken in use, to lead
Entire plastics worm gear gear ring 180 is caused to be detached from from rotor core 150.It is that empty set is turning when plastics worm gear gear ring 180 is broken
On sub- iron core 150, the reality output torque from electronic power assist steering motor can not be transmitted to by rotor core 150 and be turned
To in system.In other words, in this case, electronic power assist steering motor can only drive plastics worm gear gear ring 180 to dally, and nothing
Method output torque, so that steering system can not receive effective power-assisted of electronic power assist steering motor.
In addition, it may also happen that electronic power assist steering motor or controller break down and EPS system are caused to occur reversely
Power-assisted, such as driver beat direction to the left, and electronic power assist steering motor then provides to the right power steering, that is to say, that electronics
The motor direction of rotation that the direction of the practical rotation of power-assisted steering motor is needed with electronic power assist steering system is on the contrary, this is most to endanger
Danger, it is most likely that cause to lose control of one's vehicle so as to cause major traffic accidents.
The above-mentioned failure that the prior art EPS system can not occur detects, and the failure in above-mentioned EPS system can
Great traffic accident can be will lead to, thus there is safety difference.
To solve the above-mentioned problems in the prior art, technical solution used in the embodiment of the present invention in electronics by helping
Motor torque sensor is provided on the front end of the motor shaft of power steering motor, it can be to the electronic power assist steering motor
Reality output torque is monitored in real time, is detected with the reality output torque of the electronic power assist steering motor obtained according to monitoring
It has corresponding EPS system failure, and takes appropriate measures, the safety of driving can be improved.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Fig. 3 shows the structural schematic diagram of one of embodiment of the present invention electronic power assist steering motor.As shown in Figure 3
Electronic power assist steering motor may include motor shaft 301, Motor torque sensor 302, shell 303, stator winding 304 and turn
Son.
Wherein, motor shaft 301 is arranged in the horizontal median axis of shell 303, and Motor torque sensor 302 is fixedly mounted on
On the front end of motor shaft 301.
The front end of motor shaft 301 is stretched out except shell 303, and the front of motor shaft 301 passes through head bearings 305 and method
Blue disk 306 is fixedly mounted, and the rear end of motor shaft 301 is located within shell 303, and solid by end bearing 307 and shell 303
Dingan County's dress；Meanwhile motor shaft 301 passes through rotor, and is interference fitted with rotor.
Stator winding 304 is adapted with rotor, and is fixedly mounted on the inner wall of shell 301.Meanwhile stator winding 304
It is fixedly mounted with ring flange 306.
In specific implementation, rotor may include rotor core 3081 and be arranged on 3081 outer wall of rotor core
Permanent-magnet materials 3082.
In specific implementation, permanent-magnet materials 3082 can be magnetic shoe or magnetic cylinder, and can be pasted and turned by glue
On the outer wall of sub- iron core 3081.
Electronic power assist steering motor as shown in Figure 3, the Motor torque sensing being arranged on the front end by motor shaft 301
Device 302 may be implemented to monitor the reality output torque of electronic power assist steering motor in real time, with what is obtained according to monitoring
The reality output torque of electronic power assist steering motor, detects EPS system failure accordingly, to improve the safety of driving
Property.
Below in conjunction with Fig. 4 and Fig. 5 to how according to the reality output torque of electrical steering motor to realize EPS system therefore
The detection of barrier is further described in detail.
Fig. 4 shows the flow chart of one of embodiment electronic power assist steering system failure processing method.As shown in Figure 4
Electronic power assist steering system failure processing method, may include:
Step S401: the electronic power assist steering electricity that the Motor torque sensor of electronic power assist steering motor is sent is obtained
The reality output torque of machine.
In specific implementation, Motor torque sensor is installed on the front end of the electronical line shaft of electronic power assist steering motor,
The Motor torque sensor can the reality output torque to electronic power assist steering motor monitored in real time.
Step S402: it is turned round according to the instruction that the electronic power assist steering motor is calculated in the manual steering torque of driver
Square.
In specific implementation, steering wheel torque sensor is installed, the steering wheel torque sensor can be in EPS system
The manual steering torque of driver (or steering wheel on hand torque) is acquired in real time, and by the hand of the driver of acquisition
Dynamic steering moment sends electronic control unit (Electronic Control Unit, ECU) to, and ECU is passed according to steering wheel torque
The command torque of electronic power assist steering motor is calculated in the manual steering torque for the driver that sensor is sent.
Step S403: judge whether meet between the reality output torque and command torque of the electronic power assist steering motor
Preset first condition；When the judgment result is yes, step S404 can be executed；Conversely, not executing any operation then.
In specific implementation, the first condition can be any one of following:
(1) the reality output torque of the electronic power assist steering motor and the direction of command torque are inconsistent；
(2) or the reality output torque of the electronic power assist steering motor is consistent with the direction of command torque, but two
The difference of person's size is greater than preset threshold value.
When the condition that meets (1), the reality output torque and the direction phase of motor command torque of electronic power assist steering motor
Instead, illustrate the situation that the magnetic shoe being likely to occur on the rotor core of electronic power assist steering motor or magnetic cylinder fall off, lead to motor card
Extremely.When motor is stuck, when driver turn steering wheel, electronic power assist steering motor will be unable to provide corresponding power steering,
And the worm gear in the deceleration mechanism of EPS system will also drive worm screw in turn, and then drive the electricity of electronic power assist steering motor
Arbor twists, and the electronics that this torsional direction and controller are calculated and issue according to the manual steering effort of driver helps
The instruction torque of power steering motor is contrary, at this point it is possible to determine that failure has occurred in EPS system.
When the condition that meets (2), the reality output torque of electronic power assist steering motor is identical as the instruction direction of torque, but
Therebetween more (such as 0.2N or more) is differed, it is meant that may have occurred the feelings of the plastics worm gear gear ring fracture in deceleration mechanism
Shape causes plastics worm gear gear ring to be mutually disengaged with rotor core, so that electronic power assist steering motor at work can not be by phase
The obstruction for the resistance answered, so as to cause the idle running of electronic power assist steering motor.At this point, pacifying on the motor shaft of electronic power assist steering motor
The collected reality output torque signal of the Motor torque sensor of dress will become very little, with the manual steering according to driver
Too big (difference of the two is greater than preset threshold value) is differed between the instruction torque for the electronic power assist steering motor that power is calculated,
Thus may determine that failure has occurred in EPS system.
In specific implementation, when determining electronic power assist steering system jam, the electronics in the embodiment of the present invention is helped
Power steering system fault handling method can also include:
Step S404: the power steering of cutting electronic power assist steering system output.
In specific implementation, when determining that EPS system breaks down, the power steering of EPS system output can be cut off, with
The power steering for avoiding EPS system from exporting leads to corresponding traffic accident, and the safety of driving can be improved.
Step S405: the prompt information of the electronic power assist steering system jam is exported.
In specific implementation, when determining that EPS system breaks down, the prompt letter that EPS system breaks down can be exported
Breath, to remind user, allows user to take appropriate measures, so as to further increase the safety of driving.
In an embodiment of the present invention, when determining that EPS system breaks down, can be arranged on vehicle by lighting
The mode of EPS system trouble light reminds user's EPS system to break down.Certainly, those skilled in the art can also use it
His mode exports the prompt information that EPS system breaks down, such as voice, the invention is not limited in this regard.
Fig. 5 shows the flow chart of another electronic power assist steering system failure processing method in embodiment.Such as Fig. 5 institute
The electronic power assist steering system failure processing method shown may include:
Step S501: the electronic power assist steering electricity that the Motor torque sensor of electronic power assist steering motor is sent is obtained
The reality output torque of machine.
In specific implementation, Motor torque sensor is installed on the front end of the electronical line shaft of electronic power assist steering motor,
The Motor torque sensor can the reality output torque to electronic power assist steering motor acquired in real time.
Step S502: the steering wheel torque on hand that steering wheel torque sensor is sent is obtained.
In specific implementation, steering wheel torque sensor is installed in EPS system, can to steering wheel on hand torque (or
Claim manual steering torque) it is acquired in real time.
Step S503: judge that acquired steering wheel on hand turn round by torque and the reality output of the electronic power assist steering motor
Whether preset second condition is met between square；When the judgment result is yes, step S504 can be executed；Conversely, not executing then
Any step.
In specific implementation, the preset second condition is steering wheel torque and the electronic power assist steering motor on hand
Reality output the direction of the torque it is inconsistent.Wherein, when the reality of steering wheel torque and the electronic power assist steering motor on hand
When the direction of output torque is inconsistent, then show that the failure of reversed power-assisted occurs in EPS system.
Step S504: the power steering of the electronic power assist steering system output is cut off.
It in specific implementation, can be by cutting off EPS system when determining that the failure of reversed power-assisted occurs in EPS system
The power steering of output, to prevent the reversed power-assisted generated due to EPS system from causing serious accident, to ensure driver's
The safety of driving can be improved in traffic safety.
In specific implementation, when determining electronic power assist steering system jam, the electronics in the embodiment of the present invention is helped
Power steering system fault handling method can also include:
Step S505: the prompt information of the electronic power assist steering system jam is exported.
In specific implementation, when determining that EPS system breaks down, the prompt letter that EPS system breaks down can be exported
Breath, to remind user, allows user to take appropriate measures, so as to further increase the safety of driving.
In an embodiment of the present invention, when determining that EPS system breaks down, can be arranged on vehicle by lighting
The mode of EPS system trouble light reminds user's EPS system to break down.Certainly, those skilled in the art can also use it
His mode exports the prompt information that EPS system breaks down, such as voice, the invention is not limited in this regard.
The corresponding device of fault handling method to above-mentioned electronic power assist steering system is done below further details of
It introduces.
Fig. 6 shows the structural schematic diagram of one of embodiment of the present invention electronic power-assisted steering controller.As shown in Figure 6
Electronic power-assisted steering controller 600, may include first acquisition unit 601, computing unit 602,603 and of the first judging unit
Failure determination unit 604, in which:
First acquisition unit 601, what the Motor torque sensor suitable for obtaining above-mentioned electronic power assist steering motor was sent
The reality output torque of the electronic power assist steering motor.
The electronic power assist steering motor is calculated suitable for the manual steering torque according to driver in computing unit 602
Command torque.
First judging unit 603, suitable for judging the reality output torque and command torque of the electronic power assist steering motor
Between whether meet preset first condition.
In specific implementation, the preset first condition be the electronic power assist steering motor reality output torque with
The direction of command torque is inconsistent or the direction one of the reality output torque of the electronic power assist steering motor and command torque
It causes, but the difference of the two size is greater than preset threshold value.
Failure determination unit 604, suitable for when the electronic power assist steering motor reality output torque and command torque it
Between when meeting preset first condition, determine electronic power assist steering system jam.
In specific implementation, the electronic power-assisted steering controller 600 can also include second acquisition unit 605, second
Judging unit 606, in which:
Second acquisition unit 605, the steering wheel torque on hand sent suitable for obtaining steering wheel torque sensor.
Second judgment unit 606, suitable for judging and the steering wheel that obtains torque and the electronic power assist steering motor on hand
Reality output torque between whether meet preset second condition.
In specific implementation, the preset second condition is steering wheel torque and the electronic power assist steering motor on hand
Reality output the direction of the torque it is inconsistent.
The failure determination unit 604 is further adapted for working as the steering wheel for determining and obtaining torque and the electronics power-assisted on hand
When meeting preset second condition between the reality output torque of steering motor, electronic power assist steering system jam is determined.
In specific implementation, the electronic power-assisted steering controller 600 can also include control unit 607, in which:
Control unit 607, suitable for cutting off the electronic power assist steering when determining electronic power assist steering system jam
The power steering of system output.
In specific implementation, the electronic power-assisted steering controller 600 can also include Alarm Unit 608, in which:
Alarm Unit 608, suitable for exporting the electronic power assist steering when determining electronic power assist steering system jam
The prompt information of system jam.
In specific implementation, the Alarm Unit 608 is suitable for exporting the electronic power assist steering system by lighting trouble light
The prompt information that system breaks down.In an embodiment of the present invention, it can be made to light EPS using signal is sent to vehicular meter
The mode of trouble light exports the prompt information that EPS system breaks down).
The embodiment of the invention also provides a kind of electronic power assist steering systems, and the system comprises above-mentioned electronics power-assisteds to turn
To motor and above-mentioned electronics assist controller.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in computer readable storage medium, and storage is situated between
Matter may include: ROM, RAM, disk or CD etc..
The method and system of the embodiment of the present invention are had been described in detail above, the present invention is not limited thereto.Any
Field technical staff can make various changes or modifications without departing from the spirit and scope of the present invention, therefore guarantor of the invention
Shield range should be defined by the scope defined by the claims..
Claims (20)
1. a kind of electronic power assist steering system failure processing method, which is characterized in that the electronic power assist steering system includes electricity
Sub- power-assisted steering motor, the electronic power assist steering motor include motor shaft, Motor torque sensor, shell, stator winding and
Rotor, in which: the motor shaft is arranged in the horizontal median axis of the shell, and described in the front end stretching of the motor shaft
Except shell, rear end is located within the shell and is fixedly mounted with the shell, and the motor shaft passes through the rotor,
And it is interference fitted with the rotor；The Motor torque sensor is fixedly mounted on the front end of the motor shaft；The stator
Winding is adapted with the rotor, and is fixedly mounted on the inner wall of the shell；The described method includes:
Obtain the reality of the electronic power assist steering motor of the Motor torque sensor transmission of the electronic power assist steering motor
Output torque；
The command torque of the electronic power assist steering motor is calculated according to the manual steering torque of driver；
When the direction of the reality output torque of the electronic power assist steering motor and command torque is inconsistent, the electronics is determined
There is release failure in the magnetic shoe or magnetic cylinder of power-assisted steering motor；
When the reality output torque of the electronic power assist steering motor is consistent with the direction of command torque, but the difference of the two size
When value is greater than preset threshold value, determine that the plastics worm-gear toothing of the electronic power assist steering motor irises out existing fracture defect.
2. electronic power assist steering system failure processing method according to claim 1, which is characterized in that the rotor includes
Rotor core and the permanent-magnet materials being arranged on the rotor core outer wall.
3. electronic power assist steering system failure processing method according to claim 2, which is characterized in that the permanent magnetism material
Material is pasted on the outer wall of the rotor core by glue.
4. electronic power assist steering system failure processing method according to claim 2, spy are characterized in that, the permanent magnetism
Material is the magnetic shoe or the magnetic cylinder.
5. electronic power assist steering system failure processing method according to claim 1, which is characterized in that further include:
Obtain the steering wheel torque on hand that steering wheel torque sensor is sent；
When determine with the steering wheel that obtains on hand torque and the electronic power assist steering motor reality output the direction of the torque not
When consistent, determine that release failure occur in the magnetic shoe of the electronic power assist steering motor or magnetic cylinder.
6. electronic power assist steering system failure processing method according to claim 1-5, which is characterized in that when true
There is release failure or determine the electronic power assist steering motor in the magnetic shoe or magnetic cylinder of the fixed electronic power assist steering motor
When plastics worm-gear toothing irises out existing fracture defect, further includes:
Cut off the power steering of the electronic power assist steering system output.
7. electronic power assist steering system failure processing method according to claim 6, which is characterized in that when determining the electricity
There is release failure or determine the plastics worm gear of the electronic power assist steering motor in the magnetic shoe or magnetic cylinder of sub- power-assisted steering motor
When there is fracture defect in gear ring, further includes:
Export the prompt information of the electronic power assist steering system jam.
8. electronic power assist steering system failure processing method according to claim 7, which is characterized in that described in the output
The prompt information of electronic power assist steering system jam, comprising: export the electronic power assist steering system by lighting trouble light
The prompt information that system breaks down.
9. a kind of electronic power-assisted steering controller, which is characterized in that coupled with electronic power assist steering motor, the electronics power-assisted turns
It include motor shaft, Motor torque sensor, shell, stator winding and rotor to motor, in which: the motor shaft is arranged described
In the horizontal median axis of shell, and the front end of the motor shaft is stretched out except the shell, rear end be located at the shell it
It is interior and with the shell be fixedly mounted, and the motor shaft pass through the rotor, and with the rotor be interference fitted；The motor
Torque sensor is fixedly mounted on the front end of the motor shaft；The stator winding is adapted with the rotor, and fixed peace
On the inner wall of the shell；The electronic power-assisted steering controller includes:
First acquisition unit, the electronics that the Motor torque sensor suitable for obtaining the electronic power assist steering motor is sent
The reality output torque of power-assisted steering motor；
Computing unit, the instruction that the electronic power assist steering motor is calculated suitable for the manual steering torque according to driver are turned round
Square；
First judging unit, suitable for judging that reality output torque and the direction of command torque of the electronic power assist steering motor be
The difference of size is greater than preset threshold value both when no consistent or direction is consistent；
Failure determination unit, suitable for when the electronic power assist steering motor reality output torque and command torque direction it is different
It when cause, determines that release failure occur in the magnetic shoe of the electronic power assist steering motor or magnetic cylinder, is suitable for working as the electronic power assist steering
The reality output torque of motor is consistent with the direction of command torque, but the difference of the two size be greater than preset threshold value when, really
The plastics worm-gear toothing of the fixed electronic power assist steering motor irises out existing fracture defect.
10. electronic power-assisted steering controller according to claim 9, which is characterized in that the rotor includes rotor core
With the permanent-magnet materials being arranged on the rotor core outer wall.
11. electronic power-assisted steering controller according to claim 10, which is characterized in that the permanent-magnet materials passes through glue
Water is pasted on the outer wall of the rotor core.
12. electronic power-assisted steering controller according to claim 10, spy are characterized in that, the permanent-magnet materials is institute
State magnetic shoe or the magnetic cylinder.
13. electronic power-assisted steering controller according to claim 9, which is characterized in that further include:
Second acquisition unit, the steering wheel torque on hand sent suitable for obtaining steering wheel torque sensor；
Second judgment unit, suitable for judge with acquisition steering wheel torque and the reality of the electronic power assist steering motor are defeated on hand
Whether the direction of the torque is consistent out；
The failure determination unit is further adapted for working as the steering wheel for determining and obtaining torque and the electronic power assist steering motor on hand
Reality output the direction of the torque it is inconsistent when, determine the magnetic shoe of the electronic power assist steering motor or magnetic cylinder occur falling off therefore
Barrier.
14. according to the described in any item electronic power-assisted steering controllers of claim 9-13, which is characterized in that further include: control
Unit, suitable for when release failure occur in the magnetic shoe or magnetic cylinder that determine the electronic power assist steering motor or determine that the electronics helps
When the plastics worm-gear toothing of power steering motor irises out existing fracture defect, the steering for cutting off the electronic power assist steering system output is helped
Power.
15. electronic power-assisted steering controller according to claim 14, which is characterized in that further include:
Alarm Unit, suitable for when release failure occur in the magnetic shoe or magnetic cylinder that determine the electronic power assist steering motor or determine institute
When stating the plastics worm-gear toothing of electronic power assist steering motor and irising out existing fracture defect, exports the electronic power assist steering system and occur
The prompt information of failure.
16. electronic power-assisted steering controller according to claim 15, which is characterized in that the Alarm Unit is suitable for passing through
Light the prompt information that trouble light exports the electronic power assist steering system jam.
17. a kind of electronic power assist steering system, which is characterized in that any including electronic power assist steering motor and claim 9-16
Electronic power-assisted steering controller described in, the electronic power assist steering motor includes motor shaft, Motor torque sensor, shell
Body, stator winding and rotor, in which: the motor shaft is arranged in the horizontal median axis of the shell, and the motor shaft
Front end is stretched out except the shell, and rear end is located within the shell and is fixedly mounted with the shell, and the motor
Axis passes through the rotor, and is interference fitted with the rotor；The Motor torque sensor is fixedly mounted on the motor shaft
Front end；The stator winding is adapted with the rotor, and is fixedly mounted on the inner wall of the shell.
18. electronic power assist steering system according to claim 17, which is characterized in that the rotor include rotor core and
Permanent-magnet materials on the rotor core outer wall is set.
19. electronic power assist steering system according to claim 18, which is characterized in that the permanent-magnet materials passes through glue
It pastes on the outer wall of the rotor core.
20. electronic power assist steering system according to claim 18, spy are characterized in that the permanent-magnet materials is described
Magnetic shoe or the magnetic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960890.5A CN106891989B (en) | 2015-12-18 | 2015-12-18 | Electronic power assist steering system and its fault handling method, motor and controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510960890.5A CN106891989B (en) | 2015-12-18 | 2015-12-18 | Electronic power assist steering system and its fault handling method, motor and controller |
Publications (2)
| Publication Number | Publication Date |
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| CN106891989A CN106891989A (en) | 2017-06-27 |
| CN106891989B true CN106891989B (en) | 2019-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510960890.5A Active CN106891989B (en) | 2015-12-18 | 2015-12-18 | Electronic power assist steering system and its fault handling method, motor and controller |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109094643A (en) * | 2018-09-29 | 2018-12-28 | 安徽江淮汽车集团股份有限公司 | A kind of fault alarm method and system of electric boosting steering system |
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| JP2005110404A (en) * | 2003-09-30 | 2005-04-21 | Koyo Seiko Co Ltd | Electric power steering device |
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|---|---|---|---|---|
| JP2005110404A (en) * | 2003-09-30 | 2005-04-21 | Koyo Seiko Co Ltd | Electric power steering device |
| JP2008100683A (en) * | 2007-12-07 | 2008-05-01 | Honda Motor Co Ltd | Electric steering device |
| JP2009201255A (en) * | 2008-02-21 | 2009-09-03 | Nsk Ltd | Electric motor and electric power steering arrangement |
| CN103625306A (en) * | 2012-08-20 | 2014-03-12 | 北汽福田汽车股份有限公司 | Torque monitoring system of electric vehicle |
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| Publication number | Publication date |
|---|---|
| CN106891989A (en) | 2017-06-27 |
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