CN108334122A - The magnetorheological fluid power sense feedback device of monotubular planetary gear type and its application method - Google Patents

Abstract

The invention discloses a kind of magnetorheological fluid power sense feedback devices of monotubular planetary gear type and its application method, described device to include：Power sense simulation system, power sense generation system, commutation planetary gear system, power supply system.The motor speed direction of the present invention does not have to mutation, and magnetorheological fluid viscosity does not have to mutation, and Planetary Gear Transmission, all gears are intermeshed always, does not have cogged sliding during transmission, power transmission, therefore fretting wear is small, lasts a long time.

Description

Single cylinder planetary gear type magneto-rheological fluid force feedback device and using method thereof

technical field

The invention belongs to the technical field of automobile electronic control and intelligence, and relates to a single-cylinder planetary gear type magneto-rheological fluid force feedback device and a use method thereof.

Background technique

Traditional vehicle road tests have disadvantages such as high cost, long time, limited site conditions, and accidents in extreme conditions. It is the current mainstream trend to replace traditional vehicle road tests with vehicle driving simulation systems. A mature driving simulation system can truly reflect the vehicle's motion state, road conditions, surrounding environment, and various body and force sensations, which greatly reduces the capital cost, time cost and labor cost of the vehicle road test. Among them, accurate steering wheel force feedback is essential, which to a large extent determines whether the driver can make corresponding operations according to a given route or driving intention, and is crucial to the driver's operation decision-making. The traditional force feedback device is mainly composed of a torque motor and a deceleration mechanism, but it has disadvantages such as uneven control, large delay and jitter, complicated mechanical connection device, and easy motor jamming. Therefore, this patent proposes a single-tube planetary The gear type magnetorheological fluid force feedback device, the main difference is that the direction control of the force sense is completed by the planetary gear system driven by the motor to rotate in reverse, and the magnitude of the force sense is controlled by the excitation coil to control the viscosity of the magnetorheological fluid. To a certain extent It eliminates the delay and jitter of the traditional torque motor direct connection scheme, ensures accurate torque feedback, and overcomes a series of shortcomings of the torque motor.

Magnetorheological fluid is a kind of smart material, which is a suspension formed by dispersing micron-sized magnetically polarized particles in non-magnetic liquids (mineral oil, silicone oil, etc.). In the case of zero magnetic field, magnetorheological fluid can flow freely, showing the behavior of Newtonian fluid, and its apparent viscosity is very small; under the action of an external magnetic field, the apparent viscosity can increase by several orders of magnitude in a short time (milliseconds), And it exhibits solid-like characteristics, has a certain shear yield stress, and this change is continuous and reversible, that is, it returns to the original flow state after removing the magnetic field, and this characteristic is affected by other external factors (such as temperature) The effect is minimal. The magnetorheological effect of magnetorheological fluid provides a wide range of application prospects in engineering practice.

Contents of the invention

In order to achieve the above purpose, the present invention provides a single-cylinder planetary gear type magneto-rheological fluid force feedback device and its use method, which solves the problems of delayed vibration, uneven control, complicated mechanical connection devices and problems in the prior art. Easy to get stuck.

The technical solution adopted in the present invention is that the single-cylinder planetary gear type magneto-rheological fluid force feedback device includes a bracket on which a bearing support, a rotation angle and torque sensor, an excitation coil, a limit ring and a motor are sequentially arranged. The steering column passes through the bearing and is rigidly connected to one end of the rotation angle and torque sensor through a coupling, the steering column is rigidly connected to the steering wheel, the other end of the rotation angle and torque sensor is rigidly connected to the output shaft through a coupling, and the output shaft is connected to the The output end cover is connected, one end of the input shaft is connected to the motor through a coupling, the other end of the input shaft is connected to the sun gear through a key, the input shaft is provided with a planetary support, the input shaft runs through the planetary support and is connected to it through a key, There are planetary gears on the planetary bracket, the planetary gear is connected with the sun gear, the ring gear passes through the planetary bracket and connected with the planetary gear, the roller is set in the middle of the bracket, and the roller is connected to the input end cover plate and the output end cover plate through screws and sealing washers The upper and lower sides of the upper and lower sides are connected, the ring gear is connected with the roller through the O-ring, the planetary support is equipped with a bearing and a sleeve, the sleeve is connected with the bearing, the input end cover is sleeved outside the bearing and connected with the roller, and the planetary support The sealing felt ring is connected with the sealing end cover, and the sealing end cover is connected with the input end cover plate through the sealing gasket. A closed space is formed between the ring gear and the input end cover plate, and a closed space is formed between the sun gear and the output end cover plate. space, magnetorheological fluid is provided inside the two closed spaces, excitation coils are provided outside the two closed spaces, and a sleeve is provided between the magnetorheological fluid between the ring gear and the input end cover plate and the planet carrier, The rotation angle and torque sensors are respectively connected with the force sense controller and the magneto-rheological fluid controller through the signal lines, and the force sense controller is connected with the magneto-rheological fluid controller, the current generator and the excitation coil in turn through the signal lines, and the motor control The controller is sequentially connected with the motor driver and the motor through the signal line.

Further, the power supply is respectively connected to the rotation angle and torque sensor, the motor, the force sense controller, the motor controller, the motor driver, the magneto-rheological fluid controller, and the current generator through the power supply line.

Further, the planetary wheel rotates around its own axis.

Further, the teeth of the ring gear, the sun gear and the planet gears are meshed in one plane.

Another technical solution adopted by the present invention is the method of using the single cylinder planetary gear type magneto-rheological fluid force feedback device, which is specifically carried out according to the following steps:

Step 1. Turn the steering wheel during driving. The angle and torque sensor detects the size and direction of the steering wheel angle and transmits it to the force-sensing controller. The aligning torque is determined by the inclination and displacement of the kingpin and the micro-element side reaction force distributed on the ground surface. cause, Among them, M _A is the steering torque on the road surface caused by the kingpin inclination, Q is the steering wheel load, D is the kingpin displacement, β is the kingpin inclination angle, δ is the wheel angle, M _y is caused by the kingpin caster moment, F _y is tire lateral force, is the tire trail, Main pin caster trailing distance, m is the mass of the vehicle, v is the vehicle speed, b is the distance from the center of mass to the rear axle, R is the turning radius, L is the wheelbase, and the damping moment is caused by the steering system and ground friction M _D =B _s ·θ+Q·f·sign(θ), where B _s is the damping coefficient of the steering shaft in the steering system, θ is the steering wheel angle, f is the friction coefficient of the ground, and sign(θ) represents the friction torque direction and the steering wheel The direction of rotation is opposite, therefore, the torque of the theoretical steering wheel can be expressed as: M _l =F(θ)=(M _A +M _y )/i+(M _D -B _s ·θ)/i+B _s ·θ, and The magnitude and direction of the theoretical steering wheel torque, and transmit the magnitude and direction of the theoretical steering wheel torque to the magnetorheological fluid controller;

Step 2. According to M _l = F(θ) = (M _A + M _y )/i+(M _D -B _s ·θ)/i+B _s ·θ, the magnetorheological fluid controller obtains the theoretical steering wheel torque and direction Contrary to the angle of the steering wheel, it is decided which excitation coil should be supplied with power and the magnitude of the supplied current. The shear stress τ 0 generated by the magnetorheological fluid is τ ₀ =1150B ⁴ -2140B ³ +1169B ² -64B+0.8, where, B Be the magnetic induction intensity, B=μH, wherein, μ is the magnetic permeability, H is the magnetic field intensity, by the Ampere loop theorem Hl=NI, wherein N is the number of turns of the exciting coil, I is the exciting coil current, and l is the magnetic circuit length , and then execute it through the current generator, the magneto-rheological fluid controller can also receive the torque signal output by the rotation angle and torque sensor, and adjust the feedback torque compensation amount according to the value of the theoretical steering wheel torque M _l and the value of the actual torque M ΔM=M _l -M, to ensure that the final torque transmitted to the driver is equal to the theoretical steering wheel torque;

Step 3. The motor controller controls the motor to maintain constant rotation through the motor driver. The ring gear and sun gear are driven by the motor as active sources and are reversed by the planetary gear. The ring gear and sun gear always maintain reverse rotation, and the ring gear/sun gear The driving torque of the ring gear/sun gear can be transmitted to the input end cover/output end cover and the roller through the shear force of the magneto-rheological fluid, ensuring that the torque can be output at any time r is the radius of the contact surface between the ring gear/sun gear and the magneto-rheological fluid, _τ0 is the shear stress generated by the magnetorheological fluid, the input end cover and the output end cover are closely covered by the magnetorheological fluid, ready to Receive the driving torque of the ring gear/sun gear and transmit it to the steering wheel through the rotation angle and torque sensor. When the ring gear/sun gear on one side is working, the excitation coil on the other side has no current, and the sun gear/ring gear is idling.

The beneficial effect of the present invention is that, compared with the prior art, (1) the motor control of the single cylinder planetary gear magneto-rheological fluid force feedback device of the present invention is simpler, and the delay of the direct torque control of the traditional force feedback device is eliminated and jitter. Since the motor is only used as the active source in the present invention, it is only necessary to achieve constant speed control, and the delay of the rotational speed has no effect on the process of force feedback, so the traditional force feedback device is changed because the performance of the motor is not high. The unfavorable situation of realizing the effect; (2) The single cylinder planetary gear type magnetorheological fluid force feedback device of the present invention adopts the intelligent material magnetorheological fluid, so that the response speed of the device becomes millisecond level, eliminating the traditional force feedback Delay characteristics of the device. And because it adopts the way of hydraulic transmission, the force transmission process is softer, so that the driver can better experience the feedback torque of the steering wheel during the driving simulation process; Because the feedback device adopts the planetary gear reversing system, there is no sudden change in the parameters during the control process. The typical representative is that there is no sudden change in the direction of the motor speed, and there is no sudden change in the viscosity of the magneto-rheological fluid. Planetary gear transmission, all gears are always meshing with each other, transmission, There is no gear slippage during the force transmission process, so the friction and wear are small and the service life is long; the structure of the planetary gear mechanism is simple and compact, and its load is distributed to a large number of teeth, which has high strength, that is to say, the strength requirements for the gear teeth Low, which reduces the difficulty and cost of manufacturing; all gear teeth mesh on the same plane, which reduces the length of the transmission, that is, shortens the length of the entire force feedback device, and the overall structure is relatively simple, which essentially improves the device. response speed, so the performance of the invention is better than the traditional force feedback device; (4) the single cylinder planetary gear magneto-rheological fluid force feedback device of the present invention uses the torque sensing signal for real-time feedback adjustment, which can ensure the actual The generated force feedback value of the steering wheel is equal to the theoretical force value, and the control effect is better.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Figure 1 is an axonometric view of a single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 2 is the front view of the single cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 3 is a top view of a single cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 4 is a cross-sectional view of a single cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 5 is a diagram of the control flow and signal transmission of the magneto-rheological hydraulic feedback device of the single cylinder planetary gear;

Fig. 6 is a dismantled axonometric view of the reversing assembly of the single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 7 is an axonometric view of the ring gear of the single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 8 is an axonometric view of the excitation coil of the magneto-rheological fluid force feedback device with a single cylinder planetary gear;

Fig. 9 is an axonometric view of the sun gear of the single-tube planetary gear type magneto-rheological fluid force feedback device;

Fig. 10 is an axonometric view of the planetary wheel of the single-tube planetary gear type magneto-rheological fluid force feedback device;

Fig. 11 is an axonometric view of the planetary support of the single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 12 is an axonometric view of the input shaft of the single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 13 is an axonometric view of the output shaft of the single-cylinder planetary gear type magneto-rheological fluid force feedback device;

Fig. 14 is an axonometric view of the limit ring of the single cylinder planetary gear type magneto-rheological fluid force feedback device.

In the figure, 1. Bracket, 2. Motor, 3. Coupling, 4. Limiting ring, 5. Sealing end cover, 6. Input end cover, 7. O-ring, 8. Roller, 9. Teeth Ring, 10. Planetary gear, 11. Sun gear, 12. Excitation coil, 13. Output end cover plate, 14. Bearing support, 15. Steering column, 16. Steering wheel, 17. Angle and torque sensor, 18. Output Shaft, 19. Key, 20. Planetary carrier, 21. Input shaft, 22. Sleeve, 23. Seal washer, 24. Bearing, 25. Seal washer, 26. Seal felt ring, 27. Force sense controller, 28 . Motor controller, 29. Motor driver, 30. Magneto-rheological fluid controller, 31. Current generator, 32. Power supply.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1-3, the single-cylinder planetary gear type magneto-rheological fluid force feedback device includes a force-sensing simulation system, a force-sensing control system, a force-sensing generation system, a reversing system and a power supply system;

The single-cylinder planetary gear type magneto-rheological fluid force feedback device includes a bracket 1, on which a bearing support 14, a rotation angle and torque sensor 17, an excitation coil 12, a limit ring 4 and a motor 2 are sequentially arranged;

Force feeling simulation system: according to the angle signal of the steering wheel 16, it is used to generate the size and direction of the theoretical steering wheel force sense; including the steering wheel 16, the steering column 15, the bearing 24, the bearing support 14, the coupling 3, the angle of rotation and the torque sensor 17. Force-sensing controller 27; the support 1 is provided with a bearing support 14 and a rotation angle and torque sensor 17 in turn, and the steering column 15 passes through the bearing and is connected with one end of the rotation angle and torque sensor 17 through a coupling, and the steering column 15 Rigidly connected with the steering wheel 16, the angle and torque sensor 17 is connected with the force sense controller 27 through the signal line;

Force sensing control system: generate corresponding control signals according to the theoretical force sensing to control the speed of the motor 2 and the viscosity of the magneto-rheological fluid; including a motor controller 27, a motor driver 29, a magnetorheological fluid controller 30, and a current generator 31 , as shown in Figure 4, the rotation angle and torque sensors 17 are respectively connected with the force sense controller 27 and the magneto-rheological fluid controller 30 through the signal line, and the force sense controller 27 is connected with the magneto-rheological fluid controller 30 through the signal line in turn , the current generator 31 is connected with the excitation coil 12, and the motor controller 28 is connected with the motor driver 29 and the motor 2 in sequence through the signal line;

Force-sensing generating system: used to receive the control signal of steering wheel 16 force-sensing and generate actual torque according to the electromagnetic action and viscous fluid transmission action; as shown in Figure 7-14, it includes coupling 3, excitation coil 12, motor 2, Input shaft 21, output shaft 18, sealing end cover 5, sealing gasket 23, sealing gasket 25, sealing felt ring 26, bearing 24, sleeve 22, O-ring sealing ring 7, ring gear 9, sun gear 11, planet Wheel 10, planet carrier 20, drum 8, key 19, output end cover 13, input end cover 6, limit ring 4; the other end of the rotation angle and torque sensor 17 is rigidly connected to the output shaft 18 through a coupling, The output shaft 18 is connected with the output end cover plate 13 through the key 19, one end of the input shaft 21 is connected with the motor 2 through the coupling 3, the other end of the input shaft 21 is connected with the sun gear 11 through the key, and the input shaft 21 is close to the coupling One end of 3 is provided with a limit ring 4, and the input shaft 21 is provided with a planetary support 20, and the input shaft 21 runs through the planetary support 20 and is connected with it by a key. Gear connection, the ring gear 9 passes through the planetary bracket 20 and is connected with the gear of the planetary gear 10, the roller 8 is set in the middle of the bracket 1, and the roller 8 is connected to the upper and lower sides of the input end cover plate 6 and the output end cover plate 13 through screws and sealing washers 23 The ring gear 9 is connected with the drum 8 through the O-ring 7, the planet carrier 20 is provided with a bearing 24 and a sleeve 22, the sleeve 22 is connected with the bearing 24, and the input end cover plate 6 is set outside the bearing 24 and The rollers 8 are connected, the planetary carrier 20 is connected with the sealing end cover 5 through the sealing felt ring 26, the sealing end cover 5 is connected with the input end cover plate 6 through the sealing gasket 25, and the gap between the ring gear 9 and the input end cover plate 6 is A closed space is formed. A closed space is formed between the sun gear 11 and the output end cover plate 13. Magnetorheological fluid is provided inside the two closed spaces, and excitation coils 12 are provided outside the two closed spaces. The ring gear 9 and the input end A sleeve 22 is provided between the magnetorheological fluid between the cover plates 6 and the planet carrier 20;

Reversing system: used to make the sun gear 11 and the ring gear 9 keep moving in the opposite direction after the motor 2 is turned on, so as to generate a sense of force in the opposite direction; including the input shaft 21, the ring gear 9, the sun gear 11, the planetary gear 10, and the planetary gear Bracket 20; as shown in Figure 5-6, input shaft 21 is provided with planetary support 20, and input shaft 21 runs through planetary support 20 and is connected with it by key, and planetary support 20 is provided with planetary gear 10, and planetary gear 10 and sun The wheel 11 is gear connected, and the ring gear 9 passes through the planet carrier 20 and is connected with the planet gear 10;

Power supply system: used to provide electric energy for the device; the power supply 32 is respectively connected to the angle and torque sensor 17, the motor 2, the force sense controller 27, the motor controller 28, the motor driver 29, the magnetorheological fluid controller 30, A current generator 31 is connected.

Steering wheel 16 is used for providing steering gear to the driver;

The angle and torque sensor 17 is used to detect the magnitude and direction of the steering wheel 16 angle of rotation and subsequent force-feeling control, and detects the torque value delivered to the steering column 15 in the hand of the driver for subsequent torque value feedback control, so that the force The sense size is closer to the theoretical force sense;

The force sense controller 27 runs an internal theoretical force sense simulation algorithm according to the angle and direction of the driver's steering wheel 16 to generate a theoretical steering wheel moment with the same magnitude and direction as the actual vehicle driving.

The motor controller 28 is used to control the uniform rotation of the motor 2 to ensure that the motor 2 can maintain a constant rotation to drive the sun gear 11 and the ring gear 9 to rotate under load fluctuation conditions. The motor controller 28 generates a PWM control signal and transmits it to the motor driver 29 for use for controlling motor 2;

The motor driver 29 receives the PWM control signal generated by the motor controller 28, and converts it into a voltage and current signal and sends it to the motor 2, so that the motor 2 can maintain a preset rotating speed;

As shown in FIG. 5 , the magneto-rheological fluid controller 30 runs the control algorithm according to the theoretical steering wheel torque generated by the force-sensing controller 27 to determine the value of the excitation current required by the excitation coil 12 . The direction of the generated theoretical steering wheel torque determines which excitation coil 12 should be powered to ensure the magnetorheological fluid between the sun gear 11 and the input end cover plate 6 or the magnetic flow between the ring gear 9 and the output end cover plate 13 The magneto-rheological fluid controller 30 also receives the signals from the rotation angle and torque sensor 17 to adjust the current of the excitation coil 12 in real time to ensure the transmission of the current on the steering column 15. The magnitude of the torque given to the driver is the same as the value of the theoretical sense of force;

The current generator 31 receives the theoretical current delivered by the magneto-rheological fluid controller 30 to generate an excitation current of the same size for input to the excitation coil 12. The current generator 31 has two channels respectively connected to the two excitation coils 12. The current delivered by the channel depends on the direction of the theoretical steering wheel torque, and the selection is decided by the magneto-rheological fluid controller 30 .

The motor 2 is used for the reverse rotation of the ring gear 9 and the sun gear 11; the motor 2 is connected with the input shaft 21, and the motor 2 drives the input shaft 21 to rotate, and then drives the rotation of the sun gear 11, and the sun gear 11 drives the rotation of the planetary gear 10, and the planetary gear 10 rotates. The wheel 10 is installed on the planetary carrier 20, and the planetary wheel 10 can only rotate around its own axis. The planetary carrier 20 will not produce any movement due to the action of the limit ring 4 fixed on the carrier 1. The ring gear 9 and The rotation speed ratio of the sun gear 11 is determined, and the planetary gear 10 drives the ring gear 9 to rotate, so that the ring gear 9 rotates in the opposite direction to the sun gear 11 and transmits the opposite torque, and the gear teeth of the ring gear 9, the sun gear 11 and the planetary gear 10 The meshing is all in one plane.

The excitation coil 12 is used to control the viscosity of the magnetorheological fluid between the ring gear 9/sun gear 11 and the input end cover plate 6/output end cover plate 13 to generate a magnetic field;

The ring gear 9 is used to generate motion in one direction and the magneto-rheological fluid between the input end cover plate 6 to generate driving torque;

The sun gear 11 is used to generate motion in another direction and the magneto-rheological fluid between the output end cover plate 13 to generate driving torque;

The magnetorheological fluid is distributed in two closed spaces formed between the ring gear 9 and the input end cover plate 6 and between the sun gear 11 and the output end cover plate 13 .

The method of using the single cylinder planetary gear type magneto-rheological fluid force feedback device is applied to the single cylinder planetary gear type magneto-rheological fluid force feedback device, and the specific steps are as follows:

Step 1. Turn the steering wheel 16 during driving. The angle and torque sensor 17 detects the size and direction of the steering wheel 16 angle of rotation and transmits it to the force-sensing controller 27. Caused by the side reaction force, Among them, M _A is the steering torque on the road surface caused by the kingpin inclination, Q is the steering wheel load, D is the kingpin displacement, β is the kingpin inclination angle, δ is the wheel angle, M _y is caused by the kingpin caster moment, F _y is tire lateral force, is the tire trail, Main pin caster trailing distance, m is the mass of the vehicle, v is the vehicle speed, b is the distance from the center of mass to the rear axle, R is the turning radius, L is the wheelbase, and the damping moment is caused by the steering system and ground friction M _D =B _s ·θ+Q·f·sign(θ), where B _s is the damping coefficient of the steering shaft in the steering system, θ is the steering wheel 16 rotation angle, f is the friction coefficient of the ground, sign(θ) represents the friction torque direction and The steering wheel 16 rotates in the opposite direction, therefore, the moment of the theoretical steering wheel can be expressed as: M _l =F(θ)=(M _A +M _y )/i+(M _D −B _s θ)/i+B _s θ, Obtain the magnitude and direction of the theoretical steering wheel torque, and transmit the magnitude and direction of the theoretical steering wheel torque to the magnetorheological fluid controller 30;

Step 2: The magnetorheological fluid controller 30 obtains the theoretical steering wheel torque according to M _l =F(θ)=(M _A +M _y )/i+(M _D -B _s ·θ)/i+B _s ·θ, The direction is opposite to the rotation angle of the steering wheel 16, and it is determined which exciting coil 12 should be supplied with power and the magnitude of the supplied current. The shear stress τ 0 generated by the magnetorheological fluid is τ ₀ =1150B ⁴ -2140B ³ +1169B ² -64B+0.8, Wherein, B is the magnetic induction intensity, and B=μH, and wherein, μ is magnetic permeability, and H is the magnetic field strength, by Ampere's loop theorem H1=NI, and wherein N is the number of turns of excitation coil 12, and I is excitation coil 12 electric currents, l is the length of the magnetic circuit, and then it is executed by the current generator 31, and the magneto-rheological fluid controller 30 can also receive the torque signal output by the rotation angle and torque sensor 17, according to the value of the theoretical steering wheel torque M _l and the actual torque M The numerical value is used for feedback adjustment, and the feedback torque compensation amount ΔM=M _l -M ensures that the final torque transmitted to the driver is equal to the theoretical steering wheel torque;

Step 3: The motor controller 28 controls the motor 2 to maintain constant rotation through the motor driver 29 to generate a theoretical steering wheel force sense. The ring gear 9 and the sun gear 11 are driven by the motor 2 as active sources and are reversed by the planetary gear 10. The ring gear 9 and the sun gear 11 are always in reverse rotation, and the ring gear 9/sun gear 11 can transmit the driving torque of the ring gear 9/sun gear 11 to the input end cover plate 6 (or the output end Cover plate 13) and roller 8 ensure that torque can be output at any time r is the radius of the contact surface between the ring gear 9/sun gear 11 and the magneto-rheological fluid, _τ0 is the shear stress generated by the magnetorheological fluid, and the input end cover plate 6 and the output end cover plate 13 are closely attached by the magnetorheological fluid Covering, ready to receive the driving torque of the ring gear 9/sun gear 11 at any time and transmit it to the steering wheel 16 through the angle and torque sensor 17; when the ring gear 9 (or sun gear 11) on one side is working, the excitation coil 12 on the other side has no current , The sun gear 11 (or the ring gear 9) is idling.

Example

The motor 2 rotates clockwise at a constant speed of 2 revolutions per second, and the sun gear 11 and the ring gear 9 rotate in the opposite direction. At this time, the driver turns the steering wheel 16 counterclockwise from the zero position, and the force sense controller 27 determines the theoretical force sense After the magnitude of the magnitude, the theoretical current of the excitation coil 12 is determined by the magnetorheological fluid controller 30, and at the same time the force sense controller 27 determines that the direction of the theoretical force sense should be clockwise, then the magnetorheological fluid controller 30 controls The current generator 31 chooses to energize the magnetorheological fluid between the sun gear 11 and the output end cover plate 13, that is, energizes the corresponding external excitation coil 12, and the coil generates a magnetic field to the magnetorheological fluid inside it, Change the viscosity of the magnetorheological fluid to an appropriate value. Under the action of the clockwise rotating sun gear 11, the output end cover plate 13 will generate a clockwise feedback torque equal to the theoretical force sense and transmit it to the steering wheel 16. At this time, the gear Circle 9 is idling; if the driver turns the steering wheel 16 clockwise from the zero position, the force sense controller 27 decides the size of the theoretical force sense, and then the magneto-rheological fluid controller 30 determines the theoretical current of the excitation coil 12. At the same time, the force sense controller 27 decides that the direction of the theoretical force sense should be counterclockwise, then the magneto-rheological fluid controller 30 controls the current generator 31 to select the magnetic flow between the ring gear 9 and the input end cover plate 6 Fluid-changing magnetism, that is, energizing the corresponding external excitation coil 12, the coil generates a magnetic field to the magnetorheological fluid inside, changing the viscosity of the magnetorheological fluid to an appropriate size, and the role of the ring gear 9 rotating counterclockwise Next, the input end cover plate 6 transmits the counterclockwise feedback torque equal to the theoretical force sense to the steering wheel 16, and at this time the sun gear 11 is idling.

After the control of the magneto-rheological fluid controller 30 and the execution of the reversing system, the current generator 31 switches the power supply channel at any time. This invention can output torque of any size and direction at any position of the steering wheel 16. There is no motor reversing in the whole control process. Therefore, the response speed of the system will be determined by the response speed of the magnetorheological fluid, and the response speed of the magnetorheological fluid is at the millisecond level, so the invention has more advantages than the existing traditional force feedback device.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims (5)

1. The single-cylinder planetary gear type magneto-rheological fluid force feedback device is characterized in that it includes a bracket (1), and the bracket (1) is sequentially provided with a bearing support (14), a rotation angle and torque sensor (17), The excitation coil (12), the limit ring (4) and the motor (2), the steering column (15) pass through the bearing and are rigidly connected with one end of the rotation angle and torque sensor (17) through a coupling, and the steering column (15) and The steering wheel (16) is rigidly connected, the other end of the rotation angle and torque sensor (17) is rigidly connected to the output shaft (18) through a coupling, and the output shaft (18) is connected to the output end cover plate (13) through a key (19) , one end of the input shaft (21) is connected to the motor (2) through a coupling (3), the other end of the input shaft (21) is connected to the sun gear (11) through a key, and the input shaft (21) is provided with a planet carrier (20), the input shaft (21) runs through the planet carrier (20) and is connected with it by a key, the planet carrier (20) is provided with a planetary wheel (10), and the planetary wheel (10) is connected with the sun gear (11) gear, The ring gear (9) passes through the planetary bracket (20) and is connected to the gear of the planetary gear (10), the roller (8) is set in the middle of the bracket (1), and the roller (8) is connected to the input end cover plate through screws and sealing washers (23) (6) is connected with the upper and lower sides of the output end cover plate (13), the ring gear (9) is connected with the drum (8) through the O-ring (7), and the planet carrier (20) is provided with a bearing (24) and the sleeve (22), the sleeve (22) is connected with the bearing (24), the input end cover plate (6) is sleeved outside the bearing (24) and connected with the roller (8), and the planet carrier (20) is passed through the sealing felt The ring (26) is connected with the sealing end cover (5), the sealing end cover (5) is connected with the input end cover (6) through the sealing gasket (25), the ring gear (9) is connected with the input end cover (6 ), a closed space is formed between the sun gear (11) and the output end cover plate (13), magnetorheological fluid is provided inside the two closed spaces, and excitation coils ( 12), a sleeve (22) is provided between the magnetorheological fluid between the ring gear (9) and the input end cover plate (6) and the planet carrier (20), and the rotation angle and torque sensor (17) passes through the signal line respectively connected with the force sense controller (27) and the magneto-rheological fluid controller (30), the force sense controller (27) is sequentially connected with the magneto-rheological fluid controller (30), the current generator (31) and the The exciting coils (12) are connected, and the motor controller (28) is connected with the motor driver (29) and the motor (2) sequentially through signal lines. 2. The single cylinder planetary gear type magneto-rheological fluid force feedback device according to claim 1, characterized in that, the power supply (32) is respectively connected to the rotation angle and torque sensor (17), the motor (2), the The force sense controller (27), the motor controller (28), the motor driver (29), the magneto-rheological fluid controller (30), and the current generator (31) are connected together. 3. The single cylinder planetary gear type magneto-rheological fluid feedback device according to claim 1, characterized in that the planetary wheel (10) rotates around its own axis. 4. The single cylinder planetary gear type magneto-rheological fluid force feedback device according to claim 1, characterized in that, the gear teeth of the ring gear (9), the sun gear (11) and the planetary gear (10) are evenly meshed. in one plane. 5. A method for using the single-tube planetary gear type magneto-rheological fluid force feedback device according to any one of claims 1-4, characterized in that, specifically, the following steps are carried out: Step 1. Turn the steering wheel (16) during driving, and the angle and torque sensor (17) detects the size and direction of the steering wheel (16) angle and transmits it to the force-sensing controller (27). and the displacement and the micro-element side reaction force distributed on the ground plane, M _A ＝QDsinβsinδ, M _y ＝F _y (ξ ^· +ξ ^·· ), Among them, M _A is the steering torque on the road surface caused by the kingpin inclination, Q is the steering wheel load, D is the kingpin displacement, β is the kingpin inclination angle, δ is the wheel angle, M _y is caused by the kingpin caster , F _y is the tire lateral force, ξ is the tire trail, ξ ^·· is the kingpin caster trail, ^m is the mass of the vehicle, v is the vehicle speed, b is the distance from the center of mass to the rear axle, R is the steering radius, L is the wheelbase, and the damping torque is caused by the friction between the steering system and the ground M _D =B _s θ+Q f sign(θ), where B _s is the damping coefficient of the steering shaft in the steering system, θ is the steering wheel (16) angle of rotation, f is the ground friction coefficient, and sign (θ) represents that the friction torque direction is opposite to the direction of rotation of the steering wheel (16), therefore, the torque of the theoretical steering wheel can be expressed as: M _l =F(θ)=( M _A +M _y )/i+(M _D -B _s θ)/i+B _s θ, get the magnitude and direction of the theoretical steering wheel torque, and transfer the magnitude and direction of the theoretical steering wheel torque to the magnetorheological fluid controller (30); Step 2: The magnetorheological fluid controller (30) obtains the theoretical steering wheel according to M _l =F(θ)=(M _A +M _y )/i+(M _D -B _s ·θ)/i+B _s ·θ Torque, the direction is opposite to the angle of rotation of the steering wheel (16), and it is determined which exciting coil (12) should be powered and the magnitude of the current supplied, the shear stress τ ₀ produced by the magneto-rheological fluid = 1150B ⁴ -2140B ³ +1169B ^2-64B +0.8, wherein, B is magnetic induction intensity, B=μ H, and wherein, μ is magnetic permeability, and H is magnetic field intensity, by Ampere's loop theorem H1=NI, and wherein N is the number of turns of exciting coil (12) , I is the current of the excitation coil (12), l is the length of the magnetic circuit, and then it is executed by the current generator (31), and the magneto-rheological fluid controller (30) can also receive the output rotation angle and torque sensor (17). The torque signal is adjusted according to the value of the theoretical steering wheel torque M _l and the actual torque M, and the feedback torque compensation ΔM=M _l -M ensures that the final torque delivered to the driver is equal to the theoretical steering wheel torque; Step 3, the motor controller (28) controls the motor (2) to maintain constant speed rotation through the motor driver (29), and the ring gear (9) and the sun gear (11) are driven by the motor (2) as active sources and are driven by the planetary gear ( 10) Reversing, the ring gear (9) and the sun gear (11) always maintain reverse rotation, and the ring gear (9)/sun gear (11) can move the ring gear (9) through the shear force of the magneto-rheological fluid. / The driving torque of the sun gear (11) is transmitted to the input end cover (6) / output end cover (13) and the roller (8), ensuring that the torque can be output at any time r is the radius of the contact surface between the ring gear (9)/sun gear (11) and the magneto-rheological fluid, _τ0 is the shear stress generated by the magneto-rheological fluid, the input end cover (6) and the output end cover (13 ) is closely covered by magnetorheological fluid, ready to receive the driving torque of the ring gear (9)/sun gear (11) at any time and transmit it to the steering wheel (16) through the angle and torque sensor (17), and the ring gear (9) on one side )/sun gear (11) work, the excitation coil (12) on the other side does not have electric current, and sun gear (11)/ring gear (9) carries out idling.