CN108394461B - The magnetorheological fluid power sense feedback device of monotubular bevel gear type and its application method - Google Patents

Abstract

The invention discloses a single-tube bevel gear magneto-rheological fluid force feedback device and a method for using the same. The single-tube bevel gear magneto-rheological fluid force feedback device includes: a force-sensing simulation system, a force-sensing control system, Force sense generating system, commutation system and power supply system. The present invention adopts the bevel gear reversing device to make the device of the present invention light in total weight, reduce manufacturing cost, and be easy to form and assemble, thereby solving the shortcomings of complex structure, large vibration noise and high cost of the device.

Description

Single cylinder bevel 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-tube bevel 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 object, the present invention provides a single-tube bevel 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. The problem of high noise and high cost.

The technical solution adopted in the present invention is that the single-tube bevel gear type magneto-rheological fluid force feedback device includes a bracket, and the bracket is sequentially provided with a bearing support, a rotation angle and torque sensor, an excitation coil and a motor, a steering wheel and a steering column Rigid connection, the steering column is fixed to the bearing support through the bearing, the steering column is rigidly connected with the rotation angle and torque sensor through the coupling, the roller is set in the middle of the bracket, the rotation angle and torque sensor is rigidly connected with the output shaft through the coupling, The output shaft is connected to the output end cover plate through a key, the motor is rigidly connected to one end of the input shaft through a coupling, and the other end of the input shaft is connected to a large bevel gear with a half through hole through a key, and the large bevel gear with a half through hole is occluded. To the small bevel gear, the input shaft is provided with a bevel gear connected to the T-shaped shaft. The two ends of the bevel gear connected to the T-shaped shaft pass through the reversing small bevel gear and are screwed to it by tightening the end cover. The end of the input shaft close to the motor is connected to the through hole. Large bevel gear connection, the drum is connected to the upper and lower sides of the input end cover plate and output end cover plate through screws and sealing washers, a closed space is formed between the semi-through hole large bevel gear and the output end cover plate, and the through hole large bevel gear A closed space is formed between the two closed spaces and the input end cover plate, magnetorheological fluid is provided in the two closed spaces, excitation coils are provided outside the two closed spaces, a first sleeve and a second sleeve are provided on the input shaft, and the first The sleeve is placed between the magneto-rheological fluid and the input shaft, the second sleeve is placed between the large bevel gear with a semi-through hole and the T-shaped shaft connected to the bevel gear, and the input end cover is connected to the sealing gasket and the sealing end cover through screws There is a felt ring at the connection between the sealing end cover and the input shaft, the roller is connected with the semi-through-hole large bevel gear and the through-hole large bevel gear through the O-ring, and the rotation angle and torque sensors are respectively connected to the force through the signal line. The sensor controller is connected with the magneto-rheological fluid controller, the force-sensing controller is connected with the magneto-rheological fluid controller, the current generator and the excitation coil in turn through the signal line, and the motor controller is connected with the motor driver and the motor in turn through the signal line connect.

Further, the power supply is respectively connected with the motor, the rotation angle and torque sensor, 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, both the first sleeve and the second sleeve can freely rotate relative to the input shaft.

Further, the current generator is provided with two channels.

Another technical solution of the present invention is the method of using the single-tube bevel 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, 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 angle, f is the friction coefficient of the ground, and sign(θ) indicates that the direction of the friction torque is opposite to the direction of steering wheel rotation. Therefore, the theoretical steering wheel torque 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 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 perform feedback adjustment according to the value of the theoretical steering wheel torque M _l and the value of the actual torque M, and the feedback torque compensation Quantity ΔM=M _l -M, to ensure that the torque finally 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 through-hole large bevel gear and the semi-through-hole large bevel gear are driven by the motor as the active source and are reversed by the reversing small bevel gear to maintain constant speed and reverse rotation at all times. Rotating, through-hole large bevel gear/semi-through-hole large bevel gear can transmit the driving torque of through-hole large bevel gear/semi-through-hole large bevel gear to the output end cover plate/input break through the shear force of the magneto-rheological fluid. The cover plate and the roller ensure that the torque can be output at any time, according to Among them, r is the radius of the contact surface between the through-hole large bevel gear/semi-through-hole large bevel gear and the magneto-rheological fluid, _τ0 is the shear stress generated by the magneto-rheological fluid, and the output end cover plate and the input break cover plate are magnetically The rheological fluid is close to the cover, ready to receive the driving torque of the through-hole large bevel gear/half-through-hole large bevel gear and transmit it to the steering wheel through the rotation angle and torque sensor, one side through-hole large bevel gear/semi-through-hole large bevel gear When working, the large bevel gear with semi-through hole/large bevel gear with through hole on the other side is idling and its corresponding excitation coil has no current.

The beneficial effect of the present invention is that, compared with the prior art, the delay and jitter of the direct torque control of the traditional force-feedback device are eliminated, and because the hydraulic transmission is adopted, the force transmission process is softer, and the force sense is also improved. The response time and accuracy of the feedback. At the same time, for the existing force feedback products, the present invention focuses on improving the service life of the invention and the simplicity of device construction. Since the reversing device is often in the magnetorheological fluid and located Inside the drum, the use of bevel gear reversing device can make the service life of the present invention longer, and at the same time improve the load bearing capacity, strong chemical and corrosion resistance, and also have the functions of noise reduction and shock absorption. The most important thing is to use the cone The gear reversing device makes the present invention light in overall weight, reduces manufacturing cost, and is easy to form and assemble, thereby solving the disadvantages of complicated device structure, large vibration and noise, and high cost.

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-tube bevel gear type magneto-rheological fluid force feedback device;

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

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

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

Fig. 5 is a diagram of the control flow and signal transmission of the single-tube bevel gear type magneto-rheological fluid force feedback device;

Fig. 6 is an axonometric view of the through-hole large bevel gear of the single-tube bevel gear type magneto-rheological fluid force feedback device;

Fig. 7 is an axonometric view of a large bevel gear with a semi-through hole of a single-tube bevel gear type magneto-rheological fluid force feedback device;

Fig. 8 is an axonometric view of the reversing pinion bevel gear of the magneto-rheological fluid force feedback device of the single-cylinder bevel gear type;

Fig. 9 is an axonometric view of the bevel gear connected to the T-shaped shaft of the single-tube bevel gear type magneto-rheological fluid force feedback device;

Fig. 10 is an axonometric view of the sealing end cover of the single-tube bevel gear type magneto-rheological fluid force feedback device;

Fig. 11 is an axonometric view of the output shaft of the single-tube bevel gear magneto-rheological fluid feedback device;

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

Fig. 13 is an axonometric view of the excitation coil of the single-tube bevel gear type magneto-rheological fluid force feedback device.

In the figure, 1. Steering wheel, 2. Steering column, 3. Bearing, 4. Bearing support, 5. Coupling, 6. Output shaft, 7. Key, 8. Output end cover plate, 9. Sealing washer, 10 .Excitation coil, 11. O-ring, 12. Roller, 13. Tighten the end cover, 14. Input end cover, 15. Sealing gasket, 16. Sealing end cover, 17. Motor, 18. Bracket, 19. Input shaft, 20. felt ring, 21. first sleeve, 22. large bevel gear with through hole, 23. reversing small bevel gear, 24. bevel gear connected to T-shaped shaft, 25. second sleeve, 26. half Large bevel gear with through hole, 27. Angle and torque sensor, 28. Force sensor controller, 29. Motor controller, 30. Motor driver, 31. Magneto-rheological fluid controller, 32. Current generator, 33. 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 1-4, the single-tube bevel gear magneto-rheological fluid 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-tube bevel gear type magneto-rheological fluid force feedback device includes a bracket 18, on which a bearing support 4, a rotation angle and torque sensor 27, an excitation coil 10 and a motor 17 are sequentially arranged;

Force simulation system: according to the angle signal of steering wheel 1, it is used to generate the size and direction of theoretical steering wheel force sense; including steering wheel 1, steering column 2, bearing 3, bearing support 4, coupling 5, rotation angle and torque sensor 27. Force sense controller 28; steering wheel 1 and steering column 2 are rigidly connected, steering column 2 is fixed to bearing support 4 through bearing 3, steering column 2 is rigidly connected to rotation angle and torque sensor 27 through coupling 5, and rotation angle And the torque sensor 27 is connected to the force sense controller 28 through the signal line;

Force-sensing control system: generate corresponding control signals according to theoretical force-sensing for controlling the speed of motor 17 and the viscosity of magnetorheological fluid; including motor controller 28, motor driver 30, magnetorheological fluid controller 31, and current generator 32. As shown in Figure 4, the rotation angle and torque sensors 27 are respectively connected to the force-sensing controller 28 and the magneto-rheological fluid controller 31 through signal lines, and the force-sensing controller 28 is connected to the magneto-rheological fluid controller in turn through signal lines 31. The current generator 32 is connected to the excitation coil 10, and the motor controller 29 is connected to the motor driver 30 and the motor 17 in turn through the signal line;

Force-sensing generating system: used to receive the control signal of steering wheel 1 force-sensing and generate actual torque according to electromagnetic action and viscous fluid transmission action; including coupling 5, excitation coil 10, motor 17, input shaft 19, sealing end cover 16 , sealing gasket 15, sealing felt ring 20, bearing 3, first sleeve 21, second sleeve 25, O-shaped sealing ring 11, large bevel gear with through hole 22, large bevel gear with half through hole 26, small reversing Bevel gear 23, bevel gear connecting T-shaped shaft 24, tightening end cover 13, roller 12, key 7, output end cover plate 8, input end cover plate 14, as shown in Figure 5-13; the roller 12 is set in the middle of the bracket 18 , the rotation angle and torque sensor 27 is rigidly connected to the output shaft 6 through a coupling, the output shaft 6 is connected to the output end cover plate 8 through a key 7, the motor 17 is rigidly connected to one end of the input shaft 19 through a coupling, and the input shaft The other end of 19 is connected with the large bevel gear 26 through the key, the large bevel gear 26 with the half through hole meshes with the reversing bevel gear 23, and the drum 12 is connected to the input end cover plate 14 and the output end cover through the screw and the sealing washer 9 The upper and lower sides of the plate 8 are connected, a closed space is formed between the large bevel gear 26 with a semi-through hole and the output end cover plate 8, a closed space is formed between the large bevel gear 22 with a through hole and the input end cover plate 14, and the two closed spaces Magneto-rheological fluid is provided, excitation coils 10 are provided outside the two enclosed spaces, a first sleeve 21 and a second sleeve 25 are provided on the input shaft 19, and the first sleeve 21 is placed between the magneto-rheological fluid and the input shaft. Between the shafts 19, the second sleeve 25 is placed between the semi-through large bevel gear 26 and the bevel gear connecting T-shaped shaft 24, and the input end cover plate 14 is connected with the sealing end cover 16 through screws and sealing gaskets 15, A felt ring 20 is provided at the connection between the sealing end cover 16 and the input shaft 19;

Reversing system: used to make the through-hole large bevel gear 22 and the semi-through-hole large bevel gear 26 keep moving in the opposite direction after the motor 17 is turned on, so as to generate a sense of force in the opposite direction; including the input shaft 19, the through-hole large bevel gear 22 , semi-through hole large bevel gear 26, reversing small bevel gear 23, bevel gear connection T-shape shaft 24, tightening end cap 13; input shaft 19 is provided with bevel gear connection T-shape shaft 24, bevel gear connection T-shape shaft 24 Both ends pass through the reversing small bevel gear 23 and are screwed to it by tightening the end cap 13, and the drum 12 is connected with the semi-through-hole large bevel gear 26 and the through-hole large bevel gear 22 through the O-shaped sealing ring 11;

Power supply system: used to provide electric energy for the device; the power supply 33 is respectively connected to the motor 17, the torque sensor 27, the force sense controller 28, the motor controller 29, the motor driver 30, the magnetorheological fluid controller 31 and the current generator through the power supply line Device 32 is connected.

The motor controller 29 is used to control the uniform rotation of the motor 17 to ensure that the motor 17 can maintain a constant rotation to drive the through-hole large bevel gear 22 and the semi-through-hole large bevel gear 26 to rotate under the load fluctuation condition, and the motor controller 29 generates PWM control The signal is transmitted to the motor driver 30 for controlling the motor 17;

The motor driver 30 receives the PWM control signal generated by the motor controller 29, and converts it into a voltage and current signal and sends it to the motor 17, so that the motor 17 can maintain a preset rotating speed;

The large through-hole bevel gear 22 is used to generate motion in one direction and make the magneto-rheological fluid between the through-hole large bevel gear 22 and the input end cover plate 14 generate a driving torque;

The first sleeve 21 is free to rotate relative to the input shaft 19, the first sleeve 21 plays the role of sealing the magnetorheological fluid, the second sleeve 25 is also located on the input shaft 19, and the second sleeve 25 is opposite to the input shaft 19 is free to rotate, and the second sleeve 25 plays a role of limiting the bevel gear to connect the T-shaped shaft 24;

The large bevel gear with half through hole 26 is used to generate motion in another direction and make the magnetorheological fluid between the large bevel gear with half through hole 26 and the output end cover plate 8 generate driving torque;

The magneto-rheological fluid controller 31 runs the control algorithm according to the theoretical steering wheel torque generated by the force-sensing controller 28 to determine the value of the excitation current required by the excitation coil 10. According to the theoretical steering wheel torque generated by the force-sensing controller 28 Direction decision-making determines which excitation coil 10 should be powered, to ensure the magneto-rheological fluid between the through-hole large bevel gear 22 and the input end cover plate 14 or the magneto-rheological fluid between the semi-through-hole large bevel gear 26 and the output end cover plate 8 The rheological fluid is magnetized, and at the same time, the corresponding external excitation coil 10 is energized. At the same time, the magnetorheological fluid controller 31 also receives the signal of the rotation angle and torque sensor 27 to adjust the current of the excitation coil 10 in real time, and then adjusts the corresponding magnetic field. The viscosity of the rheological fluid ensures that the torque transmitted to the driver on the steering column 2 is the same as the value of the theoretical sense of force;

The current generator 32 receives the theoretical current delivered by the magneto-rheological fluid controller 31 to generate an excitation current of the same size for input to the excitation coil 10. The current generator 32 is provided with two channels respectively connected to the two excitation coils 10, specifically to Which channel delivers the current depends on the direction of the theoretical sense of force, and this choice is decided by the magneto-rheological fluid controller 31 .

The motor 17 is used to make the through-hole large bevel gear 22 and the semi-through-hole large bevel gear 26 reversely rotate, the motor 17 is connected with the input shaft 19, and the motor 17 drives the input shaft 19 to rotate, and then drives the semi-through-hole large bevel gear 26 to rotate , the semi-through-hole large bevel gear 26 drives the reversing bevel gear 23 to rotate again, the bevel gear connects the T-shape shaft 24 to be sleeved on the input shaft 19, and the two ends of the bevel gear connecting T-shape shaft 24 directly pass through the reversing bevel gear 23 middle through holes, the reversing pinion bevel gear 23 can rotate freely on the bevel gear connection T-shaped shaft 24, and the two ends of the bevel gear connection T-shape shaft 24 are threadedly connected with the tightening end cap 13 to prevent the reversing bevel pinion gear 23 from falling off. The reversing small bevel gear 23 drives the through hole large bevel gear 22 to rotate again, so that the through hole large bevel gear 22 is opposite to the half through hole large bevel gear 26 in the direction of rotation.

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

Step 1, turn the steering wheel 1 during driving, the angle and torque sensor 27 detects the size and direction of the steering wheel 1 rotation angle and transmits it to the force-sensing controller 28, and the righting torque is determined by the kingpin inclination angle and displacement and the microscopic distribution of the contact surface. Caused by the side reaction force, 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 rotation angle of the steering wheel 1, f is the friction coefficient of the ground, sign(θ) indicates that the direction of the friction torque is opposite to the rotation direction of the steering wheel 1, therefore, the theoretical steering wheel torque can be expressed as: M _l =F(θ)=(M _A +M _y )/i+(M _D −B _s θ)/i+B _s θ to obtain the magnitude and direction of the theoretical steering wheel moment, and transmit the magnitude and direction of the theoretical steering wheel moment to the magnetorheological fluid controller 31;

Step 2: The magnetorheological fluid controller 31 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 1, and it is determined which exciting coil 10 should be supplied with power and the magnitude of the supplied current. The shear stress τ ₀ generated by the magneto-rheological fluid = 1150B ⁴ -2140B ³ +1169B ² -64B+0.8, Wherein, B is the magnetic induction intensity, B=μH, and wherein, μ is magnetic permeability, H is magnetic field intensity, by Ampere's loop theorem H1=NI, wherein N is the number of turns of excitation coil 10, and I is excitation coil 10 electric currents, l is the length of the magnetic circuit, and then it is executed by the current generator 30, and the magneto-rheological fluid controller 31 can also receive the torque signal output by the rotation angle and torque sensor 27, 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 29 controls the motor 17 to maintain constant rotation through the motor driver 30. The through-hole large bevel gear 22 and the semi-through-hole large bevel gear 26 are driven by the motor 17 as active sources and are reversed by the reversing small bevel gear 23 , always maintain constant speed and reverse rotation, the through-hole large bevel gear 22/semi-through-hole large bevel gear 26 can move the through-hole large bevel gear 22/semi-through-hole large bevel gear 26 through the shear force of the magneto-rheological fluid The driving torque is transmitted to the output cover 8/input cover 14 and the roller 12 to ensure the output torque at any time Wherein, r is the radius of the through-hole large bevel gear 22/semi-through-hole large bevel gear 26 and the contact surface of the magneto-rheological fluid, _τ0 is the shear stress produced by the magneto-rheological fluid, the output end cover plate 8 and the input broken cover The plate 14 is closely covered by the magnetorheological fluid, ready to receive the driving torque of the through-hole large bevel gear 22/semi-through-hole large bevel gear 26 and transmit it to the steering wheel 1 through the rotation angle and torque sensor 27; one side through-hole large bevel When the gear 22/semi-through-hole large bevel gear 26 was working, the other side's half-through-hole large bevel gear 26/through-hole large bevel gear 22 was idling and its corresponding excitation coil 10 had no current.

Example

The motor 17 rotates clockwise at a constant speed at a speed of 2 rev/s, then the large bevel gear 26 with a semi-through hole and the large bevel gear 22 with a through hole rotate oppositely at the same speed. After the sense controller 28 determines the size of the theoretical force sense, the magneto-rheological fluid controller 31 determines the theoretical current of the excitation coil 10, and at the same time, the force sense controller 28 determines that the direction of the theoretical force sense should be clockwise. The magneto-rheological fluid controller 31 controls the current generator 32, selects the magneto-rheological fluid between the large bevel gear 26 and the output end cover plate 8, and electrifies the corresponding external excitation coil 10 to excite the magneto-rheological fluid. The magnetorheological fluid inside the coil 10 generates a magnetic field to change the viscosity of the magnetorheological fluid to an appropriate size. Under the action of the clockwise-rotating semi-through-hole large bevel gear 26, the output end cover plate 8 will generate a theoretical force sense The equal clockwise feedback torque is transmitted to the steering wheel 1, and the large bevel gear 22 through the hole is idling; at this time, the driver rotates the steering wheel 1 clockwise from the zero position. The rheological fluid controller 31 determines the theoretical current of the excitation coil 10, and at the same time the force sense controller 28 determines that the direction of the theoretical force sense should be counterclockwise, then the magnetorheological fluid controller 31 controls the current generator 32, and selects The magneto-rheological fluid between the through-hole large bevel gear 22 and the input end cover plate 14 is magnetized, and the corresponding external excitation coil 10 is energized, and the magneto-rheological fluid inside the excitation coil 10 generates a magnetic field to change the magneto-rheological fluid. Viscosity to the appropriate size, under the action of the through-hole large bevel gear 22 rotating counterclockwise, the input end cover plate 14 will generate a counterclockwise feedback torque equal to the theoretical force and transmit it to the steering wheel 1. At this time, the half-through hole Large bevel gear 26 is idling.

Through the control of the magneto-rheological fluid controller 31 and the implementation of the bevel gear reversing system, and the current generator 32 switches the power supply channel at any time, the invention can output torque of any magnitude and direction at any position of the steering wheel 1, and the entire control process has no Because of the commutation of the motor 17, the response speed of the system will be determined by the response speed of the magnetorheological fluid. The response speed of the magnetorheological fluid is at the millisecond level, so the invention has more advantages than the existing traditional force-feedback devices.

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 magnetorheological fluid power sense feedback device of monotubular bevel gear type, which is characterized in that including bracket (18), on bracket (18) successively Equipped with bearing spider (4), corner and torque sensor (27), magnet exciting coil (10) and motor (17), steering wheel (1) and steering column (2) be rigidly connected, steering column (2) by bearing (3) be fixed to bearing spider (4) on, steering column (2) by shaft coupling (5) with Corner and torque sensor (27) rigid connection, roller (12) setting is in the middle part of bracket (18), corner and torque sensor (27) It is rigidly connected by shaft coupling and output shaft (6), output shaft (6) is connected by key (7) with output end casing (8), motor (17) it is rigidly connected by one end of shaft coupling and input shaft (19), the other end of input shaft (19) passes through key and half-via auger Gear (26) connection, half-via bevel gear wheel (26) engaged gears commutate bevel pinion (23), and input shaft (19) is equipped with cone tooth Wheel connection T shape axis (24), bevel gear connect T shape axis (24) both ends and pass through commutation bevel pinion (23) and by tightening end cap (13) It is threadedly coupled with it, input shaft (19) is connect close to the one end of motor (17) with through-hole bevel gear wheel (22), and roller (12) passes through Screw and seal washer (9) are connected with the two sides up and down of input end casing (14) and output end casing (8), half-via auger tooth Enclosure space, shape between through-hole bevel gear wheel (22) and input end casing (14) are formed between wheel (26) and output end casing (8) At enclosure space, two enclosure spaces are equipped with magnetorheological fluid, are equipped with magnet exciting coil (10), input shaft outside two enclosure spaces (19) be equipped with first sleeve (21) and second sleeve (25), first sleeve (21) be placed in magnetorheological fluid and input shaft (19) it Between, second sleeve (25) is placed between half-via bevel gear wheel (26) and bevel gear connection T shape axis (24), is inputted end casing (14) It is connected by screw with gasket seal (15) and end cover (16), end cover (16) and the junction of input shaft (19) are set Have felt collar (20), roller (12) passes through O-ring seals (11) and half-via bevel gear wheel (26) and through-hole bevel gear wheel (22) phase Connection, corner and torque sensor (27) are connected with power sense controller (28) and magnetorheological fluid controller (31) respectively by signal wire Connect, power sense controller (28) by signal wire successively with magnetorheological fluid controller (31), current feedback circuit (32) and magnet exciting coil (10) it is connected, electric machine controller (29) is successively connected with motor driver (30), motor (17) by signal wire.

2. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that power supply (33) By supply lines respectively with motor (17), corner and torque sensor (27), power sense controller (28), electric machine controller (29), Motor driver (30), magnetorheological fluid controller (31), current feedback circuit (32) are connected.

3. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that described first Sleeve (21) and second sleeve (25) can be freely rotated relative to input shaft (19).

4. the magnetorheological fluid power sense feedback device of monotubular bevel gear type according to claim 1, which is characterized in that the electric current Generator (32) is set there are two channel.

5. a kind of user of the magnetorheological fluid power sense feedback device of monotubular bevel gear type as described in claim 1-4 any one Method, which is characterized in that specifically follow the steps below:

Step 1: steering wheel rotation (1) in driving procedure, corner and torque sensor (27) detection direction disk (1) corner Size and direction simultaneously pass it to power sense controller (28), and aligning torque is by caster and displacement and is grounded EDS maps Infinitesimal lateral reaction causes, M_A=QDsin β sin δ, M_y=F_y(ξ^·+ξ^·),Wherein, M_AFor caused by Kingpin inclination Road surface is to the steering moment of wheel, and Q is deflecting roller load, and D is the shifting of main pins position, and β is kingpin inclination, and δ is wheel steering angle, M_yFor Torque caused by reverse caster, F_yFor side force of tire, ξ^·For pneumatic trail, ξ^··For positive caster offset, m is complete vehicle quality, V is car speed, and b is the distance from mass center to rear axle, and R is turning radius, and L is wheelbase, and damping torque is by steering system and ground Face friction causes M_D=B_sθ+Qfsign (θ), wherein B_sFor the damped coefficient of steering shaft in steering system, θ is direction Disk (1) corner, f are ground friction coefficients, sign (θ) indicate moment of friction direction and steering wheel (1) rotation direction on the contrary, because This, theory orientation disk torque may be expressed as: M_l=F (θ)=(M_A+M_y)/i+(M_D-B_s·θ)/i+B_sθ obtains theory orientation disk The size of torque and direction, and the size of theory orientation disk torque and direction are passed into magnetorheological fluid controller (31)；

Step 2: magnetorheological fluid controller (31) is according to M_l=F (θ)=(M_A+M_y)/i+(M_D-B_s·θ)/i+B_sθ obtains theory Steering wheel torque, the corner of direction and steering wheel (1) is on the contrary, decision goes out power to which magnet exciting coil (10) and provide institute The size of current of confession, the shear stress τ that magnetorheological fluid generates₀=1150B⁴-2140B³+1169B²- 64B+0.8, wherein B is magnetic Induction, B=μ H, wherein μ is magnetic conductivity, and H is magnetic field strength, and by Ampère circuital theorem Hl=NI, wherein N is excitation wire The circle number of (10) is enclosed, I is magnet exciting coil (10) electric current, and l is the length of magnetic path, then executed by current feedback circuit (30), Magnetorheological fluid controller (31) can also receive the dtc signal of corner and torque sensor (27) output, according to theory orientation disk power Square M_lNumerical value and actual torque M numerical value carry out feedback regulation, feedback moment compensation rate Δ M=M_l- M, it is ensured that be ultimately transferred to The torque of driver is equal with theory orientation disk torque；

Step 3: electric machine controller (29) maintains constant speed rotation, through-hole auger by motor driver (30) control motor (17) Gear (22) and half-via bevel gear wheel (26) are driven by motor (17) as active source and are commutated by commutation bevel pinion (23), Maintain constant speed to reversely rotate, through-hole bevel gear wheel (22)/half-via bevel gear wheel (26) can then pass through magnetorheological fluid always Through-hole bevel gear wheel (22)/half-via bevel gear wheel (26) driving moment is passed to output end casing (8)/input by shearing force Disconnected cover board (14) and roller (12), it is ensured that output torque at any time, according toWherein, r is through-hole bevel gear wheel (22)/half-via bevel gear wheel (26) and magnetorheological fluid contact surface radius, τ₀For the shear stress that magnetorheological fluid generates, output End casing (8) and input disconnected cover board (14) are close to cover by magnetorheological fluid, are ready to receiving through-hole bevel gear wheel (22)/half and lead to The driving moment of hole bevel gear wheel (26) simultaneously passes to steering wheel (1) by corner and torque sensor (27), and a side through hole is big When bevel gear (22)/half-via bevel gear wheel (26) work, other side half-via bevel gear wheel (26)/through-hole bevel gear wheel (22) Its corresponding magnet exciting coil (10) dally without electric current.