CN109774786A - A multi-mode power steering system based on steering-by-wire and its control method - Google Patents
A multi-mode power steering system based on steering-by-wire and its control method Download PDFInfo
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- CN109774786A CN109774786A CN201910091439.2A CN201910091439A CN109774786A CN 109774786 A CN109774786 A CN 109774786A CN 201910091439 A CN201910091439 A CN 201910091439A CN 109774786 A CN109774786 A CN 109774786A
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Abstract
本发明公开了一种基于线控转向的多模式助力转向系统及其控制方法，该系统包括转向机械模块、电动液压助力模块、ECU控制模块、旋转开关和车载传感器；并包括五种工作模式：线控模式、电动液压主动转向模式、电液复合主动转向模式、电动液压转向模式、机械转向模式；该系统通过多种模式的切换，可以满足驾驶员不同驾驶体验的需求，在线控转向模式及其他模式发生故障时，也可以通过模式切换，更好的保证驾驶员的安全。
The invention discloses a multi-mode power steering system based on wire-controlled steering and a control method thereof. The system includes a steering mechanical module, an electro-hydraulic boost module, an ECU control module, a rotary switch and a vehicle-mounted sensor; and includes five working modes: Wire-controlled mode, electro-hydraulic active steering mode, electro-hydraulic composite active steering mode, electro-hydraulic steering mode, and mechanical steering mode; the system can meet the needs of drivers for different driving experiences by switching between various modes. When other modes fail, the mode can also be switched to better ensure the safety of the driver.
Description
Technical field
The present invention relates to line traffic control servo steering system, in particular to a kind of multi-mode power-assisted steering system based on steering-by-wire
System and its control method.
Background technique
Steering system is one of critical component of automobile, and driver controls the direction of motion of automobile by steering system,
Therefore, the quality of steering system design directly influences the comfort of the safety of running car, control stability and driving.Line
Control steering system is the steering system of a new generation, because eliminating the mechanical connection between steering wheel and deflecting roller, thus it is also referred to as flexible
Steering system.Line traffic control servo steering system has been completely free of the various limitations of conventional steering system, and the handling maneuver of driver is only
It is only the angular signal instruction to vehicle input steering wheel, shape is travelled according to steering wheel angle signal, current vehicle by controller
The information such as state control front-wheel steer by actuator, and structure is simple, and arrangement is convenient, decrease road agitation to driver's
It influences.
But line traffic control servo steering system currently on the market is mainly used in car, and it is larger for front axle load
Commercial vehicle, rarely have the relevant report of line traffic control power-assisted steering.Secondly, the difference that single driving mode is difficult to meet driver is wanted
Ask, steering-by-wire eliminates mechanical connection, facilitate the arrangement of mechanical structure, but driver and true road feel also by every
From can not rationally be manipulated according to true pavement behavior to vehicle running state, driving experience is poor, vehicle safety
It is affected.
Steering-by-wire multi-mode system depends on a set of steering system at work at present, in the wire-controlled steering system
It is lower to complete a variety of work, as Chinese patent application 201810280502.2 discloses a kind of steering-by-wire system with multi-mode
System, the steering system have torque control model, corner control model, path following control mode.But the steering system is only
Steering-by-wire function can be achieved, driving experience is single, cannot achieve when mechanical breakdown occurs for wire-controlled steering system to steering system
The manipulation of system.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of multi-mode power-assisted steering suitable for the biggish commercial vehicle of front axle load
System can provide bigger power steering compared to sedan steering system, meanwhile, steering system operating mode is according to driver
The difference of selection and road conditions has multiple choices.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of multi-mode servo steering system based on steering-by-wire, including steering mechanical module, electric hydaulic power-assisted mould
Block, ECU control module 4, rotary switch 25 and onboard sensor.
The steering mechanical module includes steering wheel 1, steering column 2, road feel motor 4, electromagnetic clutch A10, electromagnetic clutch
Device B9, double planet wheel rows of mixing mechanism 11, worm gear mechanism 12, angle electrical machinery 13, wheel 14, track rod 15, rack-and-pinion machine
Structure 17；Steering wheel 1 is located at vehicle body, and 2 one end of steering column is connect with steering wheel 1, and the other end is connected with electromagnetic clutch B9；Electricity
Magnet clutch B9, electromagnetic clutch A10 are all set on steering column 2, electromagnetic clutch B9 be located at positioned at steering wheel 1 and electromagnetism from
Between clutch A10；Road feel motor 8 is connected with electromagnetic clutch B9；Angle electrical machinery 13 passes through worm gear mechanism 12 and duplicate rows
The lower toothrow circle of Xing Pai mechanism 11 is connected, and the output shaft of double planet wheel rows of mixing mechanism 11 is connected with gear and rack teeth mechanism 17, torque sensing
Device B16 is set on the output shaft of double planet wheel rows of mixing mechanism 11；15 both ends of track rod are equipped with wheel 14.
The electric hydaulic power-assisted module includes hydraulic oil container 19, hydraulic pump 21, overflow valve 22, assist motor 20, rotary valve
23 and hydraulic cylinder 18；Hydraulic oil container 19 is sequentially connected with hydraulic pump 21, rotary valve 23, hydraulic cylinder 18, assist motor 20 and hydrodynamic
Press pump 21 connects and directly drives hydraulic pump 21, and overflow valve 22 is in parallel with hydraulic pump 21, opens when hydraulic line pressure is excessively high,
So that hydraulic oil flows back into hydraulic oil container 19；Hydraulic cylinder 18 is set on track rod 15.
The onboard sensor includes vehicle speed sensor, yaw-rate sensor, lateral acceleration sensor, torque biography
Sensor A, torque sensor B, current sensor and rotary angle transmitter, the torque sensor A are set on steering column 2.
ECU control module 4 is connected with rotary switch；The ECU control module 4 includes the signal processing mould interconnected
Block 32, electromagnetic clutch module 27, angle electrical machinery control module 36, assist motor control module 39, road feel motor control module
42, composite turning power-assisted distribution module 45；ECU control module 4 receives the signal of onboard sensor sending respectively.Specifically,
ECU control module 4 receives the yaw angle speed that speed signal 5, the yaw-rate sensor that vehicle speed sensor is dispatched a car issue respectively
Spend the torque sensor letter that signal 6, the lateral acceleration signal 7 that lateral acceleration sensor issues, torque sensor A3 are generated
Numbers 44, the angular signal 38 that the current signal 43 and rotary angle transmitter that current sensor generates generate.
The above-mentioned multi-mode servo steering system based on steering-by-wire provided by the present invention comprising five kinds of Working moulds
Formula, these operating modes by select switch is converted: 1) line traffic control mode, between steering column and double planet wheel rows of mixing be added electromagnetism from
Clutch remains open in the energized state, and electromagnetic clutch is also added between road feel motor and steering column, and energized state holding is closed
It closes, when driver operates wheel steering, road feel motor provides suitable reaction force (road feel), double planet wheel rows of mixing for driver
Input shaft is locked, and angle electrical machinery provides corner input as executing agency for steering system, while assist motor drives hydraulic pump
To rotary valve fuel feeding, rotary valve is connected with hydraulic cylinder two sides, forms pressure difference in hydraulic cylinder two sides, provides and help for line traffic control servo steering system
Power.
2) electric hydaulic active steering mode, the electromagnetic clutch power-failure close between steering column and double planet wheel rows of mixing, road feel
Electromagnetic clutch power-off between motor and steering column, remains off, driver's input direction disk corner, road feel motor is not
It works again, angle electrical machinery inputs additional rotation angle by double planet wheel rows of mixing mechanism, and steering wheel angle meets additional rotation angle superposition and is used as gear
Rackwork input angle, meanwhile, assist motor drives hydraulic module to provide power for steering system.
3) electric-hydraulic combined active steering mode, the electromagnetic clutch power-failure close between steering column and double planet wheel rows of mixing, road feel
Electromagnetic clutch between motor and steering column, which is powered, to be closed, and driver's input direction disk corner, road feel motor no longer provides instead
Active force, and it is to provide equidirectional active force, power-assisted is provided together for steering system, and angle electrical machinery is provided by double planet wheel rows of mixing
Additional rotation angle, assist motor drive hydraulic module to provide power-assisted for steering system.
4) electrohydraulic steering mode, the electromagnetic clutch power-failure close between steering column and double planet wheel rows of mixing, road feel motor
Electromagnetic clutch power-off between steering column, remains off, and road feel motor, angle electrical machinery are locked not to work, at this time
Assist motor drives steering system hydraulic module to provide power-assisted to turn to, and by driver's input direction disk corner, and provides auxiliary
Power-assisted.
5) manual steering mode, the electromagnetic clutch power-failure close between steering column and double planet wheel rows of mixing, road feel motor with turn
It to the electromagnetic clutch power-off between column, remains off, the locked not work of road feel motor, angle electrical machinery and assist motor
Make, at this time by driver's input direction disk corner, and provides power-assisted for steering system.
The control method of the multi-mode servo steering system based on steering-by-wire turns according to rotary switch selection is different
To system model, sensor signal is acquired, using different control programs:
1) when selection mode is steering-by-wire mode, electromagnetic clutch 9 is closed, and electromagnetic clutch A0 is disconnected.According to speed
Signal, front wheel angle signal and steering wheel angle signal determine ideal steering ratio signal, power-assisted signal, road feel signal, pass through
Angle electrical machinery corner control module realizes corner control, realizes Power assisted control by assist motor control module, passes through road feel electricity
Machine control module realizes road feel control.
2) when selection mode is electro-hydraulic active steering mode, electromagnetic clutch 9 is disconnected, electromagnetic clutch A0 closure.According to
Speed signal, front wheel angle signal and steering wheel angle signal determine ideal power-assisted signal, road feel signal, pass through angle electrical machinery
Corner control module realizes corner control, realizes Power assisted control by assist motor control module.
3) when selection mode is composite turning mode, electromagnetic clutch 9 is closed, electromagnetic clutch A0 closure.According to speed
Signal, front wheel angle signal and steering wheel angle signal determine ideal steering ratio signal, power-assisted signal, road feel signal.Pass through
Angle electrical machinery corner control module realizes corner control, power-assisted distribution is realized by composite turning power-assisted distribution module, by helping
Force motor control module realizes hydraulic booster, realizes motor power-assisted by road feel motor control module.
4) when selection mode is electrohydraulic steering mode, electromagnetic clutch 9 is disconnected, electromagnetic clutch A0 closure.According to
Speed signal, front wheel angle signal and steering wheel angle signal determine that ideal power-assisted signal is real by assist motor control module
Existing hydraulic booster, other modules are not triggered under electrohydraulic steering mode.
5) when selection mode is manual steering mode, electromagnetic clutch 9 is disconnected, electromagnetic clutch A0 closure.All controls
Module is not triggered under manual steering mode.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. the present invention uses hydraulic booster, enable line traffic control power-assisted steering function in the biggish commercial vehicle of front axle load
It is achieved, the operating burden of driver can be effectively reduced, mitigate driving fatigue caused by coming from road agitation；
2. creative realizes steering-by-wire, electricity by being introduced into double planet wheel rows of mixing mechanism into line traffic control servo steering system
5 kinds of hydrodynamic pressure active steering, electric-hydraulic combined active steering, electrohydraulic steering and mechanical steering steering patterns equip automobile
The a variety of drive demands that can satisfy driver afterwards, experience more driving pleasures；In bench test, a set of equipment can expire
The operation experiments of a variety of steering forms of foot；
3, a set of control method is used for five kinds of steering patterns, there is novelty, meanwhile, effectively reduce steering system
Control cost；
4. steering-by-wire breaks down, by switching steering system operating mode, can effectively it avoid accidents,
Improve the driving safety of automobile；
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multi-mode servo steering system based on steering-by-wire；
Fig. 2 is the multi-mode servo steering system control method schematic diagram based on steering-by-wire.
In figure, 1, steering wheel；2, steering column；3, torque sensor A；4, ECU control module；5, speed signal；6, sideway
Angular velocity signal；7, lateral acceleration signal；8, road feel motor；9, electromagnetic clutch B；10, electromagnetic clutch A；11, double-planet
Arrange mechanism；12, worm and gear；13, angle electrical machinery；14, wheel；15, track rod；16, torque sensor B；17, gear teeth
Mechanism；18, hydraulic cylinder；19, fuel tank；20, assist motor；21, hydraulic pump；22, overflow valve；23, rotary valve；24, driver refers to
It enables；25, rotary switch；26, steering pattern signal；27, electromagnetic clutch module；28, electromagnetic clutch A switching signal；29, electric
Magnet clutch B switching signal；30, front wheel angle signal；31, steering wheel angle signal；32, signal processing module；33, ideal to pass
It is dynamic to compare signal；34, ideal power-assisted signal；35, ideal road feel signal；36, angle electrical machinery control module；37, angle electrical machinery corner
Signal；38, motor actual rotational angle signal；39, assist motor control module；40, assist motor tach signal；41, motor is practical
Tach signal；42, road feel motor control module；43, road feel motor current signal；44, torque sensor signal；45, compound turn
To power-assisted distribution module；46, hydraulic ideal power-assisted signal；47, motor ideal power-assisted signal.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
In embodiment ECU control panel be purchased from Jinhua Tong Feng Auto Parts Co., Ltd., model CK3404ECU02F-52,
Rotary switch is purchased from the graceful electrical Science and Technology Ltd. of Zhejiang thunder, model LMSQ3；
Vehicle speed sensor is purchased from Shanghai Huo Tong Electronics Co., Ltd., model OS-01110；
Steering wheel angle sensor is purchased from SENSORWAY company, model ZLS-Pb；
Steering wheel angular velocity sensor is purchased from Bosch company, model HX-905；
Yaw velocity and lateral acceleration sensor are purchased from Bosch company；
Front wheel angle sensor is purchased from SENSORWAY company, model ZLS-Pb；
Torque sensor is purchased from MEIYI company, model ZJ-8；
Assist motor speed probe is purchased from Kingyu company, model SE-02；
Angle electrical machinery rotary angle transmitter is purchased from ATD Corp., model APS1190-01.
Equipment and device involved in following embodiment, if not specified otherwise, is commercial goods.
Embodiment 1
As shown in Figure 1, the invention discloses a kind of multi-mode servo steering system based on steering-by-wire, including car body,
Steering mechanical module, electric hydaulic power-assisted module, ECU control module 4, rotary switch 25 and onboard sensor.
Steering mechanical module include steering wheel 1, steering column 2, road feel motor 4, electromagnetic clutch A10, electromagnetic clutch B9,
Double planet wheel rows of mixing mechanism 11, worm gear mechanism 12, angle electrical machinery 13, wheel 14, track rod 15, gear and rack teeth mechanism 17；
Steering wheel 1 is located at vehicle body, and 2 one end of steering column is connect with steering wheel 1, and the other end is connected with electromagnetic clutch B9；Electromagnetism from
Clutch B9, electromagnetic clutch A10 are all set on steering column 2, and electromagnetic clutch B9 is located at steering wheel 1 and electromagnetic clutch
Between A10；Road feel motor 8 is connected with electromagnetic clutch B9；Angle electrical machinery 13 passes through worm gear mechanism 12 and double planet wheel rows of mixing
The lower toothrow circle of mechanism 11 is connected, and the output shaft of double planet wheel rows of mixing mechanism 11 is connected with gear and rack teeth mechanism 17, torque sensor B16
It is set on the output shaft of double planet wheel rows of mixing mechanism 11；15 both ends of track rod are equipped with wheel 14.
Electric hydaulic power-assisted module include hydraulic oil container 19, hydraulic pump 21, overflow valve 22, assist motor 20, rotary valve 23 with
And hydraulic cylinder 18；Hydraulic oil container 19 is sequentially connected with hydraulic pump 21, rotary valve 23, hydraulic cylinder 18, assist motor 20 and hydrodynamic press pump
21 connect and directly drive hydraulic pump 21, and overflow valve 22 is in parallel with hydraulic pump 21, open when hydraulic line pressure is excessively high, so that
Hydraulic oil flows back into hydraulic oil container 19；Hydraulic cylinder 18 is set on track rod 15.
Onboard sensor includes vehicle speed sensor, yaw-rate sensor, lateral acceleration sensor, torque sensor
A3 is set on steering column 2, torque sensor B, current sensor and rotary angle transmitter, the mounting means of above-mentioned vehicle-mounted sensing
And installation site is carried out all in accordance with its product description.
ECU control module 4 is connected with rotary switch 25；ECU control module 4 includes the signal processing module interconnected
32, electromagnetic clutch module 27, angle electrical machinery control module 36, assist motor control module 39, road feel motor control module 42,
Composite turning power-assisted distribution module 45；ECU module 4 receives speed signal 5, the yaw velocity biography that vehicle speed sensor is dispatched a car respectively
Lateral acceleration signal 7, the torque sensor A3 of yaw rate signal 6, lateral acceleration sensor sending that sensor issues
The angular signal that the current signal 43 and rotary angle transmitter that torque sensor signal 44, the current sensor of generation generate generate
38。
Rotary switch used in the present embodiment is commercial product, is joined with the circuit connecting mode of ECU control module 4
See rotary switch product description.
The multi-mode servo steering system of above-mentioned steering-by-wire provided in this embodiment passes through using with ECU control module 4
The connected rotary switch 25 of circuit, can five kinds of operating modes of manual switching: line traffic control mode, electric hydaulic active steering mode, electricity
The compound active steering mode of liquid, electrohydraulic steering mode and manual steering mode, specific as follows:
1) line traffic control mode, the electromagnetic clutch A-10 between steering column 2 and double planet wheel rows of mixing mechanism 11, is protected in the energized state
Disconnection, the electromagnetic clutch B-9 between road feel motor 8 and steering column 2 are held, energized state remains closed；In driver operation side
Road feel motor 8 provides suitable reaction force (road feel) when turning to disk for driver, and 11 input shaft of double planet wheel rows of mixing mechanism is locked,
Angle electrical machinery 13 provides corner input as executing agency for steering system, while assist motor 20 drives hydraulic pump 21 to rotary valve
23 fuel feeding, rotary valve 23 are connected with 18 two sides of hydraulic cylinder, form pressure difference in 18 two sides of hydraulic cylinder, provide for line traffic control servo steering system
Power-assisted.
2) electric hydaulic active steering mode, the electromagnetic clutch A-9 power-off between steering column 2 and double planet wheel rows of mixing mechanism 11
Closure, the electromagnetic clutch B-9 power-off between road feel motor 8 and steering column 2, remains off, driver's input direction disk
Corner, road feel motor 8 no longer work, angle electrical machinery 13 by double planet wheel rows of mixing mechanism 11 input additional rotation angle, steering wheel angle with
Additional rotation angle superposition is used as 17 input angle of gear and rack teeth mechanism, meanwhile, it is steering system that assist motor 20, which drives hydraulic module,
Power is provided.
3) electric-hydraulic combined active steering mode, the electromagnetic clutch A-10 between steering column 2 and double planet wheel rows of mixing mechanism 11 are disconnected
Electricity closure, the electromagnetic clutch B-9 between road feel motor 8 and steering column 2, which is powered, to be closed, driver's input direction disk corner, road
Electrification machine 8 no longer provides reaction force, and is to provide equidirectional active force, provides power-assisted, corner electricity together for steering system
Machine 13 provides additional rotation angle by double planet wheel rows of mixing mechanism 11, and assist motor 20 drives hydraulic module to provide power-assisted for steering system.
4) electrohydraulic steering mode, the electromagnetic clutch A-10 power-off between steering column 2 and double planet wheel rows of mixing mechanism 11 are closed
It closes, the electromagnetic clutch B-9 power-off between road feel motor 8 and steering column 2 remains off, road feel motor 8, angle electrical machinery
13 it is locked do not work, it is that steering provides power-assisted that assist motor 20, which drives steering system hydraulic module, at this time, is inputted by driver
Steering wheel angle, and auxiliary power-assisted is provided.
5) manual steering mode, the electromagnetic clutch A-10 power-failure close between steering column 2 and double planet wheel rows of mixing mechanism 11, road
Between electrification machine 8 and steering column 2 electromagnetic clutch B-9 power-off, remain off, road feel motor 8, angle electrical machinery 13 and
Assist motor 20 is locked not to work, at this time by driver's input direction disk corner, and provides power-assisted for steering system.
The present embodiment additionally provides the above-mentioned Multimode Intelligent steering system multi-mode controlling party with active steering function
Method includes the following contents:
1) by driver by rotary switch 25, selecting corresponding steering system mode, (line traffic control mode, electric hydaulic actively turn
To one of mode, electric-hydraulic combined active steering mode electrically fluid-link steering mode, manual steering mode), by corresponding turn
ECU control module is passed to mode signal 26；ECU control module include signal processing module 32, electromagnetic clutch module 27,
Angle electrical machinery control module 36, assist motor control module 39, road feel motor control module 42, composite turning power-assisted distribution module
45；
2) when selection mode be steering-by-wire mode, ECU electromagnetic clutch module 27 send clutch switch signal 28 to
Electromagnetic clutch B9 makes its closure, and road feel motor 8 operates；ECU electromagnetic clutch module 27 send switching signal 29 to electromagnetism from
Clutch A10 makes its disconnection；Meanwhile ECU signal processing module 32 receives the resulting speed signal 5 of onboard sensor, front wheel angle
Signal 30, according to preset speed-front wheel angle-, (map is routine techniques to ideal steering ratio map figure, referring to document: " being based on
The active front wheel steering of ideal steering ratio controls ") determine ideal steering ratio signal 33, according to preset speed-front wheel angle-reason
Think that hydraulic booster map figure determines ideal power-assisted signal 34；ECU receives the resulting speed signal 5 of onboard sensor, steering wheel angle
Signal 31 determines ideal road feel signal 35 according to preset speed-steering wheel angle-ideal road feel map figure.
Ideal steering ratio signal 33, steering wheel angle signal 31, front wheel angle signal 30 and steering pattern signal 26 are together
It is input to angle electrical machinery corner control module 36, judges whether to trigger the module by steering pattern signal 26, is passed according to ideal
It is dynamic to determine angle electrical machinery angular signal 37 than signal 33 and steering wheel angle signal 31, this signal is passed into angle electrical machinery 13,
Using angle electrical machinery actual rotational angle signal 38 as feedback signal, using fuzzy PID control method (control method is referring to document:
" general fuzzy logic control algorithm and its application "), enable angle electrical machinery 13 to track corner control module rapidly and is passed
The angular signal passed controls vehicle front wheel angle, realizes motor turning.
Ideal power-assisted signal 34, motor actual speed signal 41 and steering pattern signal 26 are input to assist motor control mould
Block 39 judges whether to trigger the module by steering pattern signal 26, according to ideal power-assisted signal 34 calculating 20 institute of assist motor
Revolving speed is needed, assist motor tach signal 40 is obtained, using assist motor actual speed signal 41 as feedback signal, is closed using revolving speed
(control method is referring to document: " the electric hydraulic power-assisted steering system motor control based on electric motor coach for the vector control method of ring
The research of device processed ") the tracking rotating speed of target signal that enables assist motor faster more stable.Angle electrical machinery 13 passes through as a result,
It drives assist motor 20 and then drives hydraulic pump 21 to 23 fuel feeding of rotary valve, rotary valve 23 is connected with 18 two sides of hydraulic cylinder, in hydraulic cylinder
18 two sides form pressure difference, provide hydraulic booster for line traffic control servo steering system.
Ideal road feel signal 35, torque sensor signal 44 and steering pattern signal 26 are input to road feel motor control module
42, judge whether to trigger the module by steering pattern signal 26, it is suitable to obtain road feel motor 8 according to ideal road feel signal 35
Feedback moment is feedback signal with torque sensor signal 44 obtained by torque sensor A3, using H2/H∞Robust control method
(referring to document: " the EPS road feel mixing H based on genetic algorithm optimization2/H∞Control "), road feel motor current signal 43 is controlled, is made
Ideal road feel signal 35 can preferably be tracked by obtaining the torque that road feel motor 8 exports, while effectively be avoided because of vehicle body buffeting etc.
Influence of the caused external interference to vehicle driving state.
3) when selection mode is electro-hydraulic active steering mode, ECU electromagnetic clutch module 27 sends clutch switch signal
28 make its disconnection to electromagnetic clutch B9, and then road feel motor 8 is out of service；ECU electromagnetic clutch module 27 sends switch letter
Numbers 29 make its closure to electromagnetic clutch A10, and then double planet wheel rows of mixing mechanism 11 can be driven by steering column 2.
ECU signal processing module 32 receives the resulting speed signal 5 of onboard sensor, front wheel angle signal 30, according to pre-
Speed-the front wheel angle set-ideal steering ratio map schemes to determine ideal steering ratio signal 33, according to the preset preceding rotation of speed-
Angle-ideal hydraulic booster map figure determines ideal power-assisted signal 34.
Ideal steering ratio signal 33, steering wheel angle signal 31, front wheel angle signal 30 and steering pattern signal 26 are together
It is input to angle electrical machinery corner control module 36, judges whether to trigger the module by steering pattern signal 26, is passed according to ideal
It is dynamic to determine target front wheel corner than signal 33 and steering wheel angle signal 31, and by target front wheel corner and steering wheel angle signal
31 make the difference (triggering executes when steering pattern is electro-hydraulic active steering), determine angle electrical machinery angular signal by corner difference
37, this signal is passed into angle electrical machinery 13, using motor actual rotational angle signal 38 as feedback signal, using fuzzy-adaptation PID control
Method enables angle electrical machinery 13 to track the angular signal that corner control module is transmitted rapidly, passes through double planet wheel rows of mixing mechanism
11 input additional rotation angles, steering wheel angle is superimposed as 17 input angle of gear and rack teeth mechanism with additional rotation angle, and then controls vehicle
Front wheel angle realizes motor turning.
Ideal power-assisted signal 34, assist motor actual speed signal 41 and steering pattern signal 26 are input to assist motor control
Molding block 39 judges whether to trigger the module by steering pattern signal 26, according to ideal power-assisted signal 34 calculating assist motor
Revolving speed needed for 20 obtains assist motor tach signal 40, using assist motor actual speed signal 41 as feedback signal, using turn
The tracking rotating speed of target signal that the vector control method of fast closed loop enables assist motor faster more stable.Corner electricity as a result,
Machine 13 drives hydraulic pump 21 to provide hydraulic booster for steering system by driving assist motor 20.
4) when selection mode be composite turning mode, ECU electromagnetic clutch module 27 send clutch switch signal 28 to
Electromagnetic clutch 9 makes its closure, and then road feel motor 8 operates；ECU electromagnetic clutch module 27 sends switching signal 29 to clutch
Device 10 makes its closure, and then 11 input shaft of double planet wheel rows of mixing mechanism operates；Driver's input direction disk corner, road feel motor 8 is no longer
Reaction force is provided, and is to provide equidirectional active force, provides power-assisted together for steering system.
ECU signal processing module 32 receives the resulting speed signal 5 of onboard sensor, front wheel angle signal 30, according to pre-
Speed-the front wheel angle set-ideal steering ratio map schemes to determine ideal steering ratio signal 33, according to the preset preceding rotation of speed-
Angle-ideal hydraulic booster map figure determines ideal power-assisted signal 34；It is resulting that ECU signal processing module 32 receives onboard sensor
Speed signal 5, steering wheel angle signal 31 determine ideal road according to preset speed-steering wheel angle-ideal road feel map figure
Feel signal 35.
Ideal steering ratio signal 33, steering wheel angle signal 31, front wheel angle signal 30 and steering pattern signal 26 are together
It is input to angle electrical machinery corner control module 36, judges whether to trigger the module by steering pattern signal 26, is passed according to ideal
It is dynamic to determine target front wheel corner than signal 33 and steering wheel angle signal 31, and by target front wheel corner and actual steering wheel corner
Signal 31 makes the difference (triggering executes when steering pattern is electric-hydraulic combined active steering), determines that angle electrical machinery turns by corner difference
This signal is passed to angle electrical machinery 13 by angle signal 37, using motor actual rotational angle signal 38 as feedback signal, using fuzzy
PID control method enables angle electrical machinery 13 to track the angular signal that angle electrical machinery control module 36 is transmitted rapidly, passes through
Double planet wheel rows of mixing mechanism 11 provides additional rotation angle, controls vehicle front wheel angle, realizes motor turning.
Ideal power-assisted signal 34 and ideal road feel signal 35 are input to composite turning power-assisted distribution module 45, and (this module only exists
Triggered under electric-hydraulic combined active steering mode), it would be desirable to power-assisted signal 34 makes the difference with ideal road feel signal 35, and the 60% of difference is made
For hydraulic ideal power-assisted signal 46, in addition 40% it is used as motor ideal power-assisted signal 47.
Hydraulic ideal power-assisted signal 46, motor actual speed signal 41 and steering pattern signal 26 are input to assist motor control
Molding block 39 judges whether to trigger the module by steering pattern signal 26, according to ideal power-assisted signal 34 calculating assist motor
Revolving speed needed for 20 obtains assist motor tach signal 40, using assist motor actual speed signal 41 as feedback signal, using turn
The tracking rotating speed of target signal that the vector control method of fast closed loop enables assist motor faster more stable.Corner electricity as a result,
Machine 13 drives hydraulic pump 21 to provide hydraulic booster for steering system by driving assist motor 20.
Motor ideal power-assisted signal 47, torque sensor signal 44 and steering pattern signal 26 are input to road feel motor control
Module 42 judges whether to trigger the module by steering pattern signal 26, obtains road feel electricity according to motor ideal power-assisted signal 47
The corresponding target assist torque of machine 8 is feedback signal with torque sensor signal 44 obtained by torque sensor A3, using H2/H∞
Robust control method is (referring to document: " the EPS road feel mixing H based on genetic algorithm optimization2/H∞Control "), control road feel motor
Current signal 43 has simultaneously so that the assist torque that road feel motor 8 exports enables to driver to obtain ideal steering response
Effect prevents the influence to vehicle driving state such as road agitation, lateral wind.
5) when selection mode is electrohydraulic steering mode, ECU electromagnetic clutch module 27 sends clutch switch signal
28 make its disconnection to electromagnetic clutch B9, and then road feel motor 8 shuts down；ECU electromagnetic clutch module 27 sends switch letter
Numbers 29 make its closure to electromagnetic clutch A10, and double planet wheel rows of mixing mechanism 11 is driven by steering column 2, by driver's input direction disk
Corner, and auxiliary power-assisted is provided.
ECU signal processing module 32 receives the resulting speed signal 5 of onboard sensor, front wheel angle signal 30, according to pre-
Speed-the front wheel angle set-ideal hydraulic booster map figure determines ideal power-assisted signal 34.
Ideal power-assisted signal 34, motor actual speed signal 41 and steering pattern signal 26 are input to assist motor control mould
Block 39 judges whether to trigger the module by steering pattern signal 26, according to ideal power-assisted signal 34 calculating 20 institute of assist motor
Revolving speed is needed, assist motor tach signal 40 is obtained, using assist motor actual speed signal 41 as feedback signal, is closed using revolving speed
The tracking rotating speed of target signal that the vector control method of ring enables assist motor 20 faster more stable.Angle electrical machinery as a result,
13 drive hydraulic pump 21 to provide hydraulic booster for steering system by driving assist motor 20.Other modules are in electric hydaulic
It is not triggered under steering pattern.
6) when selection mode be manual steering mode, ECU electromagnetic clutch module 27 send clutch switch signal 28 to
Electromagnetic clutch B9 makes its disconnection, and sending switching signal 29 to electromagnetic clutch A10 makes its closure.Road feel motor 8, angle electrical machinery
13 and assist motor 20 is locked does not work, at this time by driver's input direction disk corner, and power-assisted is provided for steering system.
All control modules are not triggered under manual steering mode.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (3)
1. a kind of multi-mode servo steering system based on steering-by-wire, including steering mechanical module, electric hydaulic power-assisted module,
ECU control module, rotary switch and onboard sensor；
The steering mechanical module includes the steering wheel and steering column positioned at vehicle body, and steering column one end is connect with steering wheel,
The other end is connected with electromagnetic clutch B；Electromagnetic clutch B, electromagnetic clutch A are all set on steering column, and electromagnetic clutch B
In between steering wheel and electromagnetic clutch A；Road feel motor is connected with electromagnetic clutch B；Angle electrical machinery passes through worm gear snail
Linkage is connected with toothrow circle under double planet wheel rows of mixing mechanism, and the output shaft of double planet wheel rows of mixing mechanism is connected with gear and rack teeth mechanism, turns round
Square sensor B is set on the output shaft of double planet wheel rows of mixing mechanism；Track rod both ends are equipped with wheel；
The electric hydaulic power-assisted module includes the hydraulic oil container being sequentially connected, hydraulic pump, rotary valve and hydraulic cylinder, assist motor with
The connection of hydrodynamic press pump, overflow valve is in parallel with hydraulic pump, and hydraulic cylinder is set on track rod；
The ECU control module includes the signal processing module interconnected, electromagnetic clutch module, angle electrical machinery control mould
Block, assist motor control module, road feel motor control module, composite turning power-assisted distribution module；ECU module 4 receives vehicle respectively
Speed signal that fast sensor is dispatched a car, yaw rate signal, lateral acceleration signal, torque sensor signal, current signal
And angular signal；
The rotary switch is connected with ECU control module.
2. the multi-mode servo steering system based on steering-by-wire according to claim 1, which is characterized in that described vehicle-mounted
Sensor includes vehicle speed sensor, yaw-rate sensor, lateral acceleration sensor, torque sensor A, torque sensor
B, current sensor and rotary angle transmitter.
3. the control method of the multi-mode servo steering system based on steering-by-wire, feature exist as claimed in claim 1 or 2
In, system tool, there are five types of operating modes: line traffic control mode, electric hydaulic active steering mode, electric-hydraulic combined active steering mode,
Electrohydraulic steering mode and manual steering mode, the control method between these modes are as follows:
1) when driver selects line traffic control steering pattern by rotary switch, ECU electromagnetic clutch module sends clutch switch letter
Number make its closure to electromagnetic clutch B, the operating of road feel motor；ECU electromagnetic clutch module sends switching signal to electromagnetic clutch
Device A makes its disconnection；Meanwhile ECU signal processing module receives the resulting speed signal of onboard sensor, front wheel angle signal, really
Theorem thinks gear ratio signal and ideal power-assisted signal；ECU control module receives speed signal, the steering wheel that onboard sensor is sent
Angular signal determines ideal road feel signal；
Ideal steering ratio signal, steering wheel angle signal, front wheel angle signal are input to corner electricity together with steering pattern signal
Machine corner control module judges whether to trigger the module by steering pattern signal, according to ideal steering ratio signal and steering wheel
Angular signal determines angle electrical machinery angular signal, and above-mentioned signal is passed to angle electrical machinery, with angle electrical machinery actual rotational angle signal
As feedback signal, vehicle front wheel angle is controlled using fuzzy PID control method, realizes motor turning；
Ideal power-assisted signal, motor actual speed signal and steering pattern signal are input to assist motor control module, by turning
Judge whether to trigger the module to mode signal, assist motor tach signal is calculated according to ideal power-assisted signal, with power-assisted
Motor actual speed signal is as feedback signal；Angle electrical machinery drives hydraulic pump to supply to rotary valve by driving assist motor
Oil provides hydraulic booster for line traffic control servo steering system；
Ideal road feel signal, torque sensor signal and steering pattern signal are input to road feel motor control module, pass through steering
Mode signal judges whether to trigger the module, the feedback moment of road feel motor is obtained according to ideal road feel signal, with torque sensing
Torque sensor signal obtained by device A is feedback signal, is usedRobust control method controls road feel motor current signal；
2) when driver selects electro-hydraulic active steering mode by rotary switch, ECU electromagnetic clutch module sends clutch and opens
OFF signal makes its disconnection to electromagnetic clutch B；ECU electromagnetic clutch module, which sends switching signal, closes it to electromagnetic clutch A
It closes；
ECU signal processing module receives the resulting speed signal of onboard sensor, front wheel angle signal, determines that ideal steering ratio is believed
Number and ideal power-assisted signal 34；
Ideal steering ratio signal, steering wheel angle signal, front wheel angle signal are input to corner electricity together with steering pattern signal
Machine corner control module judges whether to trigger the module by steering pattern signal, according to ideal steering ratio signal and steering wheel
Angular signal determines target front wheel corner, and target front wheel corner and steering wheel angle signal are made the difference, true by corner difference
Determine angle electrical machinery angular signal, this signal is passed into angle electrical machinery, using motor actual rotational angle signal as feedback signal, uses
Fuzzy PID control method；Additional rotation angle is inputted by double planet wheel rows of mixing mechanism, steering wheel angle is superimposed as gear with additional rotation angle
Rackwork input angle, and then vehicle front wheel angle is controlled, realize motor turning；
Ideal power-assisted signal, assist motor actual speed signal and steering pattern signal are input to assist motor control module, lead to
It crosses steering pattern signal to judge whether to trigger the module, revolving speed needed for calculating assist motor according to ideal power-assisted signal is helped
Force motor tach signal, using assist motor actual speed signal as feedback signal, using the vector control method of speed closed loop,
Angle electrical machinery drives hydraulic pump to provide hydraulic booster for steering system by driving assist motor；
3) when driver selects composite turning mode by rotary switch, ECU electromagnetic clutch module sends clutch switch letter
Number make its closure to electromagnetic clutch B；ECU electromagnetic clutch module, which sends switching signal, makes its closure to electromagnetic clutch A；
ECU signal processing module receives the resulting speed signal of onboard sensor, front wheel angle signal, ideal steering ratio signal and
Ideal power-assisted signal；ECU signal processing module receives the resulting speed signal of onboard sensor, steering wheel angle signal, determines
Ideal road feel signal；
Ideal steering ratio signal, steering wheel angle signal, front wheel angle signal are input to corner electricity together with steering pattern signal
Machine corner control module judges whether to trigger the module by steering pattern signal, according to ideal steering ratio signal and steering wheel
Angular signal determines target front wheel corner, and target front wheel corner and actual steering wheel angular signal are made the difference, and passes through outer corner difference
It is worth and determines angle electrical machinery angular signal, this signal is passed into angle electrical machinery, using motor actual rotational angle signal as feedback signal,
Using fuzzy PID control method, additional rotation angle is provided by double planet wheel rows of mixing mechanism, controls vehicle front wheel angle, realizes that automobile turns
To；
Ideal power-assisted signal and ideal road feel signal are input to composite turning power-assisted distribution module, it would be desirable to power-assisted signal and ideal
Road feel signal makes the difference, in addition the 60% of difference 40% is used as motor ideal power-assisted signal as hydraulic ideal power-assisted signal；
Hydraulic ideal power-assisted signal, motor actual speed signal and steering pattern signal are input to assist motor control module, lead to
It crosses steering pattern signal to judge whether to trigger the module, revolving speed needed for calculating assist motor according to ideal power-assisted signal is helped
Force motor tach signal, using assist motor actual speed signal as feedback signal；Angle electrical machinery by driving assist motor into
And hydraulic pump is driven to provide hydraulic booster for steering system；
Motor ideal power-assisted signal, torque sensor signal and steering pattern signal are input to road feel motor control module, pass through
Steering pattern signal judges whether to trigger the module；The corresponding target power-assisted of road feel motor is obtained according to motor ideal power-assisted signal
Torque is used using torque sensor signal obtained by torque sensor A as feedback signalRobust control method controls road feel
Motor current signal；
4) when driver selects electrohydraulic steering mode by rotary switch, ECU electromagnetic clutch module sends clutch and opens
OFF signal makes its disconnection to electromagnetic clutch B；ECU electromagnetic clutch module, which sends switching signal, closes it to electromagnetic clutch A
It closes；
ECU signal processing module receives the resulting speed signal of onboard sensor, front wheel angle signal, determines ideal power-assisted letter
Number；
Ideal power-assisted signal, motor actual speed signal and steering pattern signal are input to assist motor control module, by turning
Judge whether to trigger the module to mode signal, believes that calculating assist motor 20 needs revolving speed, obtains assist motor according to ideal power-assisted
Tach signal, using assist motor actual speed signal as feedback signal；Angle electrical machinery passes through driving assist motor driving
Hydraulic pump provides hydraulic booster for steering system；
6) when driver is by rotary switch manual steering mode, ECU electromagnetic clutch module send clutch switch signal to
Electromagnetic clutch B makes its disconnection, sends switch letter and gives electromagnetic clutch A10 its closure, is turned at this time by driver's input direction disk
Angle, and power-assisted is provided for steering system.
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| CN112896291A (en) * | 2021-04-01 | 2021-06-04 | 南京航空航天大学 | Novel composite rack and pinion type active steering system and control method thereof |
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| CN117719591A (en) * | 2024-02-08 | 2024-03-19 | 杭州世宝汽车方向机有限公司 | Hydraulic mechanical backup system suitable for steer-by-wire device and control method |
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