CN206589959U - A kind of multi-mode composite turning genealogical classification controller - Google Patents

Abstract

The utility model discloses a classification controller of a multi-mode compound steering system, which processes and analyzes signals input by a sensor module through a working condition feature extraction module, establishes a classification function, and obtains the value of the classification function under the current working condition through calculation. The steering mode of the steering system is divided into mode A, mode B, and mode C by mode classifier I; mode C is divided into mode D and mode E by mode classifier II, and the mode classification controller outputs control to the corresponding booster module actuator The electric current drives the electric power assist actuator and the hydraulic power assist actuator to output power assist, realizes the function of multi-steering mode control of the system, and solves the poor adjustability of the power assist characteristics and mode switching response of the power assist system of the vehicle multi-working mode hydraulic electro-hydraulic coupling slow rate problem.

Description

A classification controller for multi-mode compound steering system

technical field

The utility model relates to the technical field of automobile power steering system control, and specifically refers to a classification controller of a multi-mode compound steering system.

Background technique

At present, the hydraulic power steering system used in existing cars at home and abroad can provide greater power assistance under low-speed working conditions and reduce the burden on the driver when steering; but under high-speed working conditions, the steering feel is poor and there are problems with handling stability; The electric power steering system is composed of a controller, a power assist motor, a steering wheel torque sensor of a reduction mechanism, and a vehicle speed sensor. The controller receives and processes the steering wheel torque signal and vehicle speed signal measured by the sensor, and controls the motor to Characteristic output assist torque. However, due to the influence of the electrical characteristics such as the battery voltage of the car itself, the maximum boost torque output by it is relatively small, which does not meet the needs of vehicles such as large passenger cars. Ideally, the steering system should output a large power boost when the car is running at low speeds to reduce the burden on the driver and achieve good steering portability; at high speeds, it should output a small power boost to ensure driving safety and obtain a good steering road. feel.

Therefore, the integration of the electric power assist module in the hydraulic power steering system can realize the steering convenience at low speed and good road feeling at high speed; realize the variable transmission ratio function, and can carry out active steering intervention to realize the steering stability of the vehicle The organic fusion with driving comfort is an ideal steering system with broad application prospects.

However, during the working process of the multi-mode compound steering system, when the vehicle is in a critical condition, the steering mode of the system is ambiguous, the switching "dead zone" occurs during the mode switching process, and the response of the power-assisted actuator in the steering system during the mode switching process exists. Hysteresis and other problems, so it is necessary to design a corresponding controller to solve the problem of working mode switching in the electromechanical-hydraulic coupled multi-mode system.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the purpose of this utility model is to provide a multi-mode compound steering system classification controller to solve the mode switching problem of the electromechanical-hydraulic coupled multi-working mode system. In the prior art, the transmission ratio of the steering system Fixed, hydraulic power steering system has problems such as poor steering feel and poor handling stability under high-speed conditions.

In order to achieve the above purpose, a multi-mode composite steering system classification controller of the present invention includes: a sensor module, an information preprocessing module, a working condition feature extraction module, a mode classifier I, and a mode classifier II. connection, where

The sensor module transmits the collected working condition information to the information preprocessing module;

The information preprocessing module transmits the processing result information to the working condition feature extraction module;

The working condition feature extraction module transfers the obtained working condition feature function of the current vehicle to the mode classifier I for classification operation; the mode classifier I is a first-level mode classifier, and divides the system steering mode into steering mode For mode A, steering mode B, and steering mode C, output corresponding classification signals to the mode classifier II; the steering mode A, steering mode B, and steering mode C are respectively electric power assist mode, hydraulic power assist mode, and compound power assist mode;

The pattern classifier II is a compound pattern classifier, which divides the compound pattern of the system into steering pattern D and steering pattern E according to the compound pattern classification algorithm; Collision avoidance mode.

Preferably, the working condition information collected by the above sensor module includes: vehicle speed signal, steering wheel angle signal, torque signal and each motor speed signal.

The beneficial effects of the utility model:

The utility model proposes the characteristic function of the current working condition of the vehicle based on the relationship between the power output of the power-assisted actuator and the power consumption of the work; the steering mode is classified and controlled by the mode classifier I and mode classifier II according to the vehicle working conditions, and the system is realized. The multi-steering mode function realizes the matching of vehicle modes and working conditions, thereby improving the steering economy and portability of the system, and improving the steering wheel torque control accuracy, so it has broad market application prospects.

Description of drawings

Fig. 1 shows the mechanical structure diagram of the multi-mode composite steering system;

Fig. 2 shows a functional block diagram of a classification controller of a multi-mode composite steering system;

Fig. 3 is a flow chart showing the logic flow of the classification controller strategy of the multi-mode compound steering system.

detailed description

In order to facilitate the understanding of those skilled in the art, the utility model will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the implementation modes are not limitations of the utility model.

Referring to Figure 1, a multi-mode active steering system includes: a steering wheel 1, a sensor module 2, a steering column 3, a planetary gear set 4, a steering gear 7, an electronic control unit (ECU) 12, a steering rocker 17, Servo motor C14, electric push rod, first reduction mechanism 13, servo motor A6, second reduction mechanism 5, servo motor B10, hydraulic pump 9, oil storage tank 11, rotary valve 8, hydraulic booster cylinder 15 and booster coupler 16 ;

The steering wheel 1 is connected to the torque input end of the steering column 3, the sensor module 2 is placed between the steering wheel 1 and the steering column 3, and is connected to the electronic control unit (ECU) 12, and the torque output end of the steering column 3 is connected to the The input ends of the planetary gear set 4 are connected, and the rotation angle correction module provides correction torque to the steering system through the lower ring gear in the planetary gear set 4. The steering torque is output to the steering rocker arm 17 through the output end of the planetary gear set 4, the steering gear 7, and the steering The power assist module provides steering power torque to the recirculating ball steering device 7 . The electronic control unit (ECU) 12 controls the servo motor C14, the first reduction mechanism 13, and the electric push rod through the servo motor control signal b, and the boost torque is transmitted to the electric push rod and the planetary push rod after being decelerated and increased by the first reduction mechanism 13 The lower ring gear of the gear set 4 realizes the variable transmission ratio rotation angle correction control; the servo motor A6 and the second reduction mechanism 5 form an electric booster module, and the electronic control unit (ECU) 12 controls the servo motor A6 through the servo motor control signal c, The boost torque is transmitted to the boost coupler 16 after being decelerated and increased by the second reduction mechanism 5; the servo motor B10, the hydraulic pump 9, the oil storage tank 11, the rotary valve 8, and the hydraulic boost cylinder 15 form a hydraulic boost module, and the electronic control unit (ECU ) 12 controls the booster servo motor B10 through the servo motor control signal d, drives the hydraulic pump 9 to pump the booster oil from the oil storage tank 11 into the hydraulic booster cylinder 15 through the rotary valve 8, and forms a pressure difference at both ends of the hydraulic booster cylinder 15 , thereby generating power assist, the power assist torque is transmitted to the power assist coupler 16 , and the power assist coupler 16 transmits the resultant torque to the steering rocker arm 17 .

Referring to Fig. 2, a classification controller of a multi-mode composite steering system of the present invention is based on the above-mentioned multi-mode active steering system in an embodiment, including: a sensor module, an information preprocessing module, a working condition feature extraction module, and a mode Classifier Ⅰ, pattern classifier Ⅱ, the above parts are connected in sequence, wherein,

The sensor module transmits the collected working condition information to the information preprocessing module;

The information preprocessing module outputs steering wheel angle signal θ _s , lateral acceleration signal a _y , front wheel angle signal δ _f , longitudinal vehicle speed signal v, front wheel kingpin inclination angle signal β, front Kingpin caster angle signal γ, controller current signal I _A , booster oil pump speed signal ω, steering rack displacement signal x _r , servo motor A, B speed signals θ _m1 , θ _m2 .

The working condition feature extraction module extracts the signal output by the information preprocessing module, obtains the working condition feature function of the current vehicle, and transfers the feature function to the mode classifier I for classification operation; the mode classifier I is a first-level mode classifier, and the steering mode of the system is divided into steering mode A, steering mode B, and steering mode C, and the corresponding classification signal is output to the mode classifier II; the steering mode A, steering mode B, and steering mode C are respectively Electric assist mode, hydraulic assist mode, compound assist mode;

The pattern classifier II is a compound pattern classifier, which divides the compound pattern of the system into steering pattern D and steering pattern E according to the compound pattern classification algorithm; Collision avoidance mode.

According to the calculation results of mode classifier Ⅰ and mode classifier Ⅱ, the actuators of each mode output electrical signals to the electric actuators and hydraulic actuators of the actuator module, and drive the corresponding actuators to output power assist distance to realize power steering.

Wherein, the working condition information collected by the above-mentioned sensor module includes: vehicle speed signal, steering wheel angle signal, torque signal and each motor speed signal.

Wherein, the above-mentioned information preprocessing module includes: a corner information preprocessing module, a lateral acceleration information preprocessing module, a steering wheel torque information preprocessing module, and a vehicle speed information preprocessing module. filter processing, and obtain the yaw rate signal through parameter estimation.

Referring to Fig. 3, the multi-mode composite steering system classification controller strategy flow of the present invention is as follows:

1) The sensor module collects working condition information, and outputs the collected signals to the information preprocessing module for filtering;

2) The information preprocessing module transmits the processing signal to the working condition feature extraction module, defines the steering torque and steering energy consumption functions under different working conditions, and obtains the ideal steering torque index Ideal steering energy consumption The expression is as follows:

In the formula: θ _s is the steering wheel angle; θ _m1 and θ _m2 are the rotation speeds of servo motors A and B respectively; V is the vehicle speed; ω is the speed of the booster oil pump; I _A is the controller current; x _r is the displacement of the steering rack; b β is the inclination angle of the front wheel kingpin; r is the tire radius; R is the turning radius; γ is the caster angle of the front wheel; η ₁ is the positive transmission efficiency of the steering system; d is the diameter of the steering wheel ; i _ω is the angular transmission ratio of the steering system; F ₁ is the full load front axle load; C _Fr is the friction coefficient of the speed ratio; C _Fr2 is the square friction coefficient of the speed ratio; P _s is the output pressure of the booster pump; q is the displacement of the booster pump; ρ is the density of the booster oil; Q _s is the flow rate of the oil pump; A _p is the effective area of the hydraulic cylinder piston; C _q is the flow coefficient; A _i is the throttle area of the i-th valve port;

3) Mode classifier Ⅰ is based on the output of the information preprocessing module, including the deviation between the output torque of the steering assist module and the ideal steering torque and the energy consumption value of the assist module, and judges the mode division of the steering system based on the first-level mode classification algorithm :

The first-level mode classification algorithm is: when the steering system is in the working condition of a single power-assisted actuator, when the actual steering torque that the power-assisted mechanism can provide is greater than the ideal steering torque under the same working condition, the single-assisted actuator will continue to output steering torque. Power assist; when the steering torque actually provided by the power assist mechanism is less than the ideal steering torque under the same working conditions, the electronic control unit outputs control current to the corresponding servo motor to drive the corresponding actuator to work, the steering system enters the compound steering mode, and the electronic control unit By controlling the servo motor current to limit the output assist ratio of the two assist mechanisms, the system meets the constraint conditions and the steering energy consumption is within the ideal energy consumption range. Inside;

The compound steering mode calculation formula is as follows:

4) When the steering mode calculated by the mode classifier I is a compound steering mode, the mode classifier I outputs a signal to the mode classifier II, and the mode classifier II performs calculations based on the composite mode classification algorithm, and the composite mode classification algorithm is : Calculate the minimum energy consumption of the actual power steering actuator to determine the proportional relationship between the hydraulic actuator and the electric actuator, and limit the ideal steering torque range of the calculated actual steering torque under the same working conditions In order to prevent the steering power consumption of the system from being limited, resulting in too little power output from the booster mechanism, which affects driving comfort and handling stability, the compound steering ratio judgment formula is as follows:

Define the proportional coefficient K _E under the power assist mode C. The proportional coefficient K _E of the power assist mode indicates the percentage of the power assist provided by the electric power assist module to the ideal value of the total power assist provided by the steering system in the compound power assist mode of the steering system. By adjusting the power assist mode proportional coefficient Controlled by K _E , the power assist mode is divided into power assist mode D and power assist mode E, which are respectively in-situ steering mode and emergency collision avoidance mode; thereby realizing the steering economy and steering portability of the steering system, the expression is:

5) Mode Actuator A, Mode Actuator B, Mode Actuator D, and Mode Actuator E respectively output electric signals to the electric actuators and hydraulic actuators of the actuator module according to the calculation results of Mode Classifier I and Mode Classifier II , to drive the corresponding actuator to output the power assist distance to realize the power steering.

There are many specific application ways of the utility model, and the above descriptions are only the preferred implementation modes of the utility model. Improvements, these improvements should also be regarded as the protection scope of the present utility model.

Claims (2)

1. A multi-mode composite steering system classification controller, characterized in that it comprises: a sensor module, an information preprocessing module, a working condition feature extraction module, a pattern classifier I, and a pattern classifier II, and the above-mentioned parts are connected in sequence, wherein , The sensor module transmits the collected working condition information to the information preprocessing module; The information preprocessing module transmits the processing result information to the working condition feature extraction module; The working condition feature extraction module transfers the obtained working condition feature function of the current vehicle to the mode classifier I for classification operation; the mode classifier I is a first-level mode classifier, and divides the system steering mode into steering mode For mode A, steering mode B, and steering mode C, output corresponding classification signals to the mode classifier II; the steering mode A, steering mode B, and steering mode C are respectively electric power assist mode, hydraulic power assist mode, and compound power assist mode; The pattern classifier II is a compound pattern classifier, which divides the compound pattern of the system into steering pattern D and steering pattern E according to the compound pattern classification algorithm; Collision avoidance mode. 2. The multi-mode composite steering system classification controller according to claim 1, wherein the working condition information collected by the sensor module includes: vehicle speed signal, steering wheel angle signal, torque signal and each motor speed signal .