CN119428836A - Electric motor feedback drive for steering systems - Google Patents
Electric motor feedback drive for steering systems Download PDFInfo
- Publication number
- CN119428836A CN119428836A CN202411417902.5A CN202411417902A CN119428836A CN 119428836 A CN119428836 A CN 119428836A CN 202411417902 A CN202411417902 A CN 202411417902A CN 119428836 A CN119428836 A CN 119428836A
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- CN
- China
- Prior art keywords
- rotor
- magnet
- electric motor
- rotor magnet
- feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
- H02K1/2787—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/2789—Outer rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2791—Surface mounted magnets; Inset magnets
- H02K1/2792—Surface mounted magnets; Inset magnets with magnets arranged in Halbach arrays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
本发明涉及用于转向系统的电动马达式的反馈驱动器（2），反馈驱动器具备带有经绕线的定子（8）且带有转子（10）的无刷式的电动马达（4），其中，转子（10）具有永磁的转子磁体（26），其中，转子磁体（26）具有若干以海尔贝克布置的方式磁化的磁极，并且其中，转子磁体（26）布置在转子壳体（24）中，该转子壳体抗相对转动地与轴承盖板（6）接合。
The invention relates to an electric motor-type feedback drive (2) for a steering system, the feedback drive having a brushless electric motor (4) with a wound stator (8) and with a rotor (10), wherein the rotor (10) has a permanent-magnet rotor magnet (26), wherein the rotor magnet (26) has a plurality of poles magnetized in a Halbach arrangement, and wherein the rotor magnet (26) is arranged in a rotor housing (24) which is joined to a bearing cover plate (6) in a rotationally fixed manner.
Description
This patent application is a division of the following patent applications:
the invention relates to an electric motor type feedback driver for a steering system;
application date: 2022, 8, 4;
application number 202210931833.4.
Technical Field
The invention relates to an electric motor type feedback drive for a steering system, comprising a brushless electric motor with a wound stator and with a permanently excited rotor. The invention also relates to a steering system with such a feedback drive.
Background
In modern motor vehicles, electric motors are used in a number of ways as drives for different adjusting elements. For example, the electric motor is used as a window regulator adjustment drive, sunroof adjustment drive or seat adjustment drive, as a steering drive (EPS, ELECTRICAL POWER STEERING), as a cooling fan drive or as a transmission actuator. Such an electric motor can also be used here in a so-called feedback drive (english: force feedback drive) for a steer-by-wire system.
Steering by wire is understood here and in the following in particular as a steering design in which a manual steering command of a vehicle user is transmitted from a sensor (in particular a steering wheel) via a controller only electrically to an electromechanical actuator, which executes the steering command. In other words, in such steering systems, there is no mechanical connection between the steering wheel and the steering gear or the steering wheel.
Thus, in a steer-by-wire system, there is no direct mechanical feedback to the vehicle user regarding the steering command. Such lack of haptic feedback may reduce driving safety and steering ability because a vehicle user cannot reliably grasp the current driving situation.
Steering-by-wire systems therefore generally have a separate actuator as a feedback drive in order to physically transmit the load torque as a response to the steered wheels as a haptic feedback signal to the vehicle user and, if required, also to build a braking torque that simulates the steering dynamics and the steering stops. Thus, the feedback signal gives the vehicle user a feedback moment comparable to the actual reaction moment, so that the vehicle user obtains a conventional steering experience.
The feedback drive can be arranged here as a direct drive (i.e. without additional transmission) on the steering column of the steering system. In such direct drives, high functional requirements are placed on the feedback drive. For example, the feedback drive should therefore have a high actuating torque with a small installation space and a sufficiently high efficiency with regard to thermal stability and a low torque ripple with regard to good acoustic effects. Furthermore, a low cogging torque and good adjustability with high adjustment accuracy are required.
A motor type that can fully meet all criteria is a multipolar brushless dc motor (BLDC motor, english: brush DC ELECTRIC motor), which is implemented, for example, as an inner mover or an outer mover. A particular challenge here is the induction of an air gap between the rotor and the stator which is as sinusoidal as possible, in order to be able to control the electric motor acoustically and tactilely unobtrusively and to meet the high market demands in this respect.
In principle, conventional BLDC motor designs have a generally trapezoidal air gap induction and can only conditionally meet the required criteria. The multipolarity means more effort in the assembly of the rotor magnets and, due to the limited rotor diameter, magnetic shorts can occur in the edge region of the rotor magnets, so that the magnet material used cannot be optimally utilized.
Disclosure of Invention
The object of the present invention is to specify a particularly suitable feedback drive for a steering system. In particular, an air gap induction that is as sinusoidal as possible should be achieved between the rotor and the stator. The object of the invention is also to specify a particularly suitable steering system.
According to the invention, this object is achieved with the features of claim 1 in respect of the feedback drive and with the features of claim 4 in respect of the steering system. Advantageous embodiments and improvements are the subject matter of the dependent claims. The advantages and designs listed in relation to the feedback drive can also be transferred to the steering system and vice versa.
The electric motor type feedback drive according to the invention is provided for a steering system of a motor vehicle, in particular for a steer-by-wire system, and is designed for this purpose and is suitable for this purpose. The feedback drive has a multipolar, brushless electric motor with a wound stator and a rotor.
The rotor is permanently excited and has permanent-magnet rotor magnets as a magnetic flux source for generating a torque. Here, the rotor magnet has several poles magnetized in a halbach arrangement (halbach array, halbach magnetization). In such an arrangement, the magnetic field is enhanced on the side of the arrangement facing the stator, and reduced on the opposite (stator-facing) side. According to the invention, the poles are oriented such that a sinusoidal field strength curve is obtained on the side facing the stator, as a result of which the cogging torque is reduced in particular.
In summary, the rotor magnets magnetized in the halbach arrangement have a sinusoidal magnetic field strength curve with respect to the radial direction, i.e. perpendicular to the motor axis, on their side facing the stator and correspondingly in the air gap formed between rotor and stator. This results in sinusoidal electromagnetic forces (EMK) being induced as air gaps in the circumferential direction of the rotor. In particular, sinusoidal EMKs are realized here without or at least with relatively few and/or weak harmonics due to the magnetization. Accordingly, relatively small torque fluctuations occur, thus advantageously improving motor efficiency.
The rotor magnets are arranged in a rotor housing which is coupled to the bearing cover plate in a rotationally fixed manner. The bearing cover plate preferably forms a mechanical interface for the feedback drive to the steering system. For example, it is conceivable that the feedback drive can be coupled to the steering column by means of a bearing cap for directly transmitting the generated torque. Thereby, a particularly suitable feedback driver is achieved.
The low torque ripple realized in motor operation due to the halbach magnetization of the rotor magnets, which has a beneficial effect on the feedback drive acoustics due to the sinusoidal air gap induction combined with the high pole count.
The electric motor is preferably embodied as a radial flux motor. Alternatively, the electric motor can also be embodied as an axial flux motor, so that different support and assembly designs and advantages in terms of installation space requirements can be achieved. Axial flux motors also have a higher torque density than radial flux motors.
The motor torque acting on the rotor by means of the rotating magnetic field is proportional to the square of the rotor diameter. In other words, the motor torque thus increases with increasing rotor diameter. According to the invention, the electric motor is thus constructed as an outer mover. In other words, the rotor is an outer rotor, so that torque enhancement can be achieved by a larger rotor diameter. In this way, the motor torque is thus greater compared to an electric motor configured as an inner mover, with the same structural dimensions of the electric motor.
No single magnet is used in the rotor magnets. According to the invention, the rotor magnets are formed by means of closed ring magnets (magnet rings). The rotor magnet is embodied here as a one-piece, i.e. one-piece or one-piece ring magnet. A significant reduction in assembly effort is thereby achieved compared to a single magnet assembly. Furthermore, a tolerance-reduced, durable pole symmetry can be achieved compared to a separately assembled and sintered magnet.
According to the invention, the rotor magnet has between twenty (20) and fifty (50) poles. For example, the stator has twenty-four (24) stator teeth, to which the rotating field winding is applied. The rotating field windings are, for example, two stator windings, each having twelve coils, which are each interconnected in a star circuit. In this case, the rotor or the rotor magnet has in particular twenty-eight (28) poles, which are arranged in a halbach arrangement.
According to the invention, the rotor magnet is made of a magnetic ring as a composite material, which is bonded to plastic. It has magnetic powder embedded in a plastic matrix. As a result, a lower plastic content can be achieved than in the case of plastic-bonded magnets, whereby higher magnetic properties are achieved with the same magnetic powder.
In one suitable embodiment, the rotor magnets are made of neodymium iron boron (NdFeB) material. Preferably, the rotor magnet has a remanence between 0.2T (tesla) and 0.75T and a coercive field strength of magnetic polarization between 150kA/m (kiloamperes per meter) and 1200kA/m at room temperature (20 ℃).
The magnetic flux source of the rotor is for example an isotropic NdFeB halbach array with a number of poles in the range of 6 to 50. The isotropic NdFeB halbach array has a remanence between 0.65T and 0.75T and a magnet coercive field strength, for example, between 450kA/m and 550kA/m at 20 ℃. In the case of a pressed magnetic ring, the coercive field strength of the magnet is preferably between 700kA/m and 770 kA/m. With such magnetic properties, a magnetic flux density in the range of 0.8T to 1.0T in the air gap of the motor is achieved. The concentration factor of the air gap flux density (KFC) is in the range of 1.2 to 1.5 compared to the magnet.
Instead of NdFeB magnet material, ferrite magnets may also be used. The injection molded ferrite halbach array has a remanence between 0.2T and 0.32T and a magnet coercive field strength between 150kA/m and 300 kA/m at 20 ℃. With such magnetic properties, a magnetic flux density in the range of 0.3T to 0.5T in the air gap of the motor is achieved. The concentration factor of the air gap flux density is in the range of 1.2 to 1.5 compared to the magnet.
As a result of the halbach arrangement, the rotor embodied as an outer rotor has a reduced field strength as leakage flux on the (outer) side opposite the stator. According to the invention, an additional (rotor) yoke is provided to reduce this leakage flux. According to the invention, the yoke collar on the outer circumference side is arranged on the rotor magnet. The yoke collar is made of ferromagnetic material. Such a yoke collar has a significantly smaller thickness than a rotor with conventional magnets without halbach effect. According to the invention, the yoke collar has a radial thickness of less than 2mm (millimeters). For example, the yoke collar has a thickness of about 1mm (millimeters). In the following, the term "about" in a given thickness refers in particular to a certain thickness range around a given thickness range value, for example + -0.5 mm. For example, a thickness of about 1mm is understood to be (1.0.+ -. 0.5) mm, i.e. a thickness range between 0.5mm and 1.5 mm. The rotor is therefore distinguished by a particularly low rotor weight and reduced rotor inertia.
The steering wheel system according to the invention is embodied in particular as a steer-by-wire system and has a steering wheel which is coupled with a feedback drive as described above. Thereby, a particularly suitable steering wheel system with low noise generation is achieved.
Drawings
Embodiments of the present invention are described in more detail below with reference to the accompanying drawings. Wherein:
FIG. 1 shows a feedback drive for a steer-by-wire system in a perspective exploded view, and
Fig. 2 shows an electric motor of the feedback drive in section.
In all the figures, components and dimensions corresponding to each other are always provided with the same reference numerals.
Detailed Description
Fig. 1 shows a feedback drive 2 for a steering-by-wire system of a motor vehicle, which is not shown in detail. The feedback drive 2 is arranged in the region of the steering wheel and generates a haptic feedback signal or a feedback torque for the vehicle user during operation.
The feedback drive 2 has a multipolar brushless electric motor 4 which can be coupled directly to the steering wheel by means of a bearing cover 6 embodied as a motor mount.
The electric motor 4 is embodied as an outer rotor and itself has a radially inner stator 8 and a radially outer rotor 10. In this embodiment, the stator 8 has twenty-four radially outwardly directed stator teeth 12, onto which the rotating field winding 14 is wound. The stator teeth 12 are provided with reference numerals by way of example only in the figures. The rotating field winding 14 has, for example, two parallel winding systems or stator windings with twelve individual coils, which are each connected in a three-phase star circuit. The stator 8 is placed on the spindle 16.
The permanently excited rotor 10 surrounds the stator 8 and is supported rotatably about a motor axis formed by the spindle 16. For supporting the rotor 10, the feedback drive 2 has two rolling bearings 18, 20 which act on the rotor 10 from axially opposite sides. The axial play of the rotor 10 between the two rolling bearings 18, 20 is in this case spring-loaded, for example, by means of a spring washer 22.
The rotor 10 has a sleeve-ring-shaped rotor housing 24 and a ring-shaped rotor magnet 26. The rotor housing 24 can be connected to the bearing cover plate 6 in a rotationally fixed manner by means of six fastening screws 28. The substantially annular bearing cover plate 6 has a central bearing seat for the rolling bearing 20, by means of which the bearing cover plate 6 and thus the rotor 10 are rotatably supported on the spindle 16. The bearing cover 6 is embodied here as a mechanical interface for directly coupling the feedback drive 2 to the steering wheel.
The hollow cylindrical or tubular rotor magnet 24 has here, for example, 6 to 50 poles which are magnetized in the halbach arrangement. The ring magnet or rotor magnet 26 is produced in one piece, i.e. in one piece or in one piece, from a pressed composite material, which is bonded to plastic, wherein the magnetic powder is embedded in a plastic matrix.
The rotor magnet 24 is made of, for example, neodymium iron boron (NdFeB) material. Preferably, the rotor magnet 24 has a remanence between 0.2T (Tesla) and 0.75T and a coercive field strength of magnetic polarization between 150kA/m (kiloamperes per meter) and 1200kA/m at room temperature (20 ℃).
The rotor magnet 24 is implemented, for example, as an isotropic NdFeB halbach array with a number of poles in the range of 6 to 50. The isotropic NdFeB halbach array has a remanence between 0.65T and 0.75T and a magnet coercive field strength between 450kA/m and 550kA/m in the case of 20 ℃. With such magnetic properties, a magnetic flux density in the range of 0.8T to 1.0T in the air gap of the motor is achieved.
A second embodiment for a feedback driver 2 is shown in fig. 2. In this embodiment, a ferromagnetic yoke collar 30 is placed on the outer circumference of the rotor magnet 24. The rotor magnet 26 here has a radial thickness 32 of 4mm, for example, wherein the yoke collar 30 has a thickness 34 of approximately 1 mm. The central recess of the stator 8 for accommodating the spindle 16 has an inner radius 36 of, for example, approximately 51mm, wherein the outer radius 38 of the electric motor 4 or the yoke collar 30 is approximately 99mm.
The present invention is not limited to the above-described embodiments. But that other variants of the invention can be derived therefrom by those skilled in the art without departing from the subject matter of the invention. In particular, all the individual features described in connection with the embodiments can also be combined with one another in other ways without departing from the subject matter of the invention.
List of reference numerals
2 Feedback driver
4 Electric motor
6 Bearing cover plate
8 Stator
10 Rotor
12 Stator teeth
14 Rotating field winding
16 Core shaft
18 Rolling bearing
20 Rolling bearing
22 Spring ring
24 Rotor housing
26 Rotor magnet
28 Fastening screw
30 Yoke collar
32 Thickness of
34 Thickness of
36. Inner radius
38 Outer radius
Claims (4)
1. An electric motor type feedback drive (2) for a steering system, comprising a brushless electric motor (4) with a wound stator (8) and with a rotor (10),
The electric motor (4) is embodied as an external mover,
Wherein the rotor (10) has permanent-magnet rotor magnets (26),
Wherein the rotor magnet (26) is produced as a one-piece ring magnet from a plastic-bonded, pressed composite material, wherein the composite material has magnetic powder embedded in a plastic matrix,
Wherein the rotor magnet (26) has between 20 and 50 poles magnetized in a halbach arrangement, so that a sinusoidal field strength curve is realized on the side facing the stator (8),
Wherein a yoke collar (30) of ferromagnetic material on the outer circumferential side is placed on the rotor magnet (26),
-Wherein the yoke collar (30) has a radial thickness (34) of less than 2 mm, and
-Wherein the rotor magnet (26) is arranged in a rotor housing (24) which is in engagement with the bearing cover plate (6) in a rotationally fixed manner.
2. The feedback driver (2) as claimed in claim 1,
It is characterized in that the method comprises the steps of,
The rotor magnet (26) is made of NdFeB material.
3. Feedback driver (2) according to claim 1 or 2,
It is characterized in that the method comprises the steps of,
The rotor magnet (26) has a remanence between 0.2T and 0.75T and a coercive field strength of magnetic polarization between 150kA/m and 1200kA/m at 20 ℃.
4. Steering system for a motor vehicle, having a steering wheel and a feedback drive (2) according to any one of claims 1 to 3 coupled to the steering wheel.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102021209701.4A DE102021209701A1 (en) | 2021-09-03 | 2021-09-03 | Electromotive feedback drive for a steering system |
| DE102021209701.4 | 2021-09-03 | ||
| CN202210931833.4A CN115743286A (en) | 2021-09-03 | 2022-08-04 | Feedback drive for an electric motor of a steering system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210931833.4A Division CN115743286A (en) | 2021-09-03 | 2022-08-04 | Feedback drive for an electric motor of a steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119428836A true CN119428836A (en) | 2025-02-14 |
Family
ID=85226295
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210931833.4A Pending CN115743286A (en) | 2021-09-03 | 2022-08-04 | Feedback drive for an electric motor of a steering system |
| CN202411417902.5A Pending CN119428836A (en) | 2021-09-03 | 2022-08-04 | Electric motor feedback drive for steering systems |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210931833.4A Pending CN115743286A (en) | 2021-09-03 | 2022-08-04 | Feedback drive for an electric motor of a steering system |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN115743286A (en) |
| DE (1) | DE102021209701A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022208376A1 (en) * | 2022-08-11 | 2024-02-22 | Brose Fahrzeugteile SE & Co. Kommanditgesellschaft, Würzburg | Brushless electric motor for a radiator fan |
| DE102023108159A1 (en) * | 2023-03-30 | 2024-10-02 | Schaeffler Technologies AG & Co. KG | steering device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10221242B4 (en) | 2002-05-13 | 2012-10-25 | Leopold Kostal Gmbh & Co. Kg | Steering device for a motor vehicle |
| DE102004017157B4 (en) | 2004-04-07 | 2007-04-19 | Minebea Co., Ltd. | Method for producing a rotor assembly and rotor assembly for an electrical machine |
| EP2757663A1 (en) | 2013-01-17 | 2014-07-23 | Siemens Aktiengesellschaft | Light weight rotor with Halbach magnetized permanent magnets for large external rotor machines |
| IT201700121893A1 (en) | 2017-10-26 | 2019-04-26 | Ferrari Spa | "STEER BY WIRE" ROAD VEHICLE SYSTEM AND PROVIDED WITH A MECHANICAL STEERING WHEEL STROKE DEVICE " |
| JP2019103322A (en) | 2017-12-06 | 2019-06-24 | 日本電産株式会社 | Outer rotor type motor |
| DE102018200523B4 (en) | 2018-01-15 | 2020-07-02 | Ford Global Technologies, Llc | Steering device |
| DE102018202943A1 (en) | 2018-02-27 | 2019-08-29 | Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg | electric motor |
| DE102018129264A1 (en) | 2018-11-21 | 2020-05-28 | Thyssenkrupp Ag | Steering wheel and steering system |
| DE102019219703A1 (en) | 2019-12-16 | 2021-06-17 | BSH Hausgeräte GmbH | Pump for a water-bearing household appliance |
-
2021
- 2021-09-03 DE DE102021209701.4A patent/DE102021209701A1/en active Pending
-
2022
- 2022-08-04 CN CN202210931833.4A patent/CN115743286A/en active Pending
- 2022-08-04 CN CN202411417902.5A patent/CN119428836A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN115743286A (en) | 2023-03-07 |
| DE102021209701A1 (en) | 2023-03-09 |
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