CN212267622U - Single-motor fault-tolerant steering-by-wire system based on planetary gear train - Google Patents
Single-motor fault-tolerant steering-by-wire system based on planetary gear train Download PDFInfo
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- CN212267622U CN212267622U CN202020888971.5U CN202020888971U CN212267622U CN 212267622 U CN212267622 U CN 212267622U CN 202020888971 U CN202020888971 U CN 202020888971U CN 212267622 U CN212267622 U CN 212267622U
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Abstract
公开了一种基于行星齿轮系的单电机容错线控转向系统，其中转向盘总成的转向柱经过第一电磁离合器、齿轮加速机构与第一行星轮系的输入轴连接，转向执行总成的转向执行电机设置转动体内，转动体与转向执行总成的转向机构连接，转向执行电机经过第二电磁离合器与第二行星轮系的输入轴连接，第一行星轮系的齿圈固定在转动体上，第二行星轮系的齿圈固定在转动体上，ECU连接所述转向盘总成、转向执行电机、第一电磁离合器和第二电磁离合器。通过ECU控制两个电磁离合器来快速稳定地实现线控转向系统向机械转向系统的切换。线控转向模式下第二行星轮系实现转向执行电机与转动体之间的减速传动。机械转向模式下第一行星轮系用于转向柱与转动体之间动力传递。
Disclosed is a single-motor fault-tolerant steering-by-wire system based on a planetary gear train, wherein the steering column of the steering wheel assembly is connected with the input shaft of the first planetary gear train through a first electromagnetic clutch and a gear acceleration mechanism, and the steering column of the steering execution assembly is connected to the input shaft of the first planetary gear train. The steering actuator motor is arranged in the rotating body, the rotating body is connected with the steering mechanism of the steering actuator assembly, the steering actuator motor is connected with the input shaft of the second planetary gear train through the second electromagnetic clutch, and the ring gear of the first planetary gear train is fixed on the rotating body On the upper side, the ring gear of the second planetary gear train is fixed on the rotating body, and the ECU is connected to the steering wheel assembly, the steering execution motor, the first electromagnetic clutch and the second electromagnetic clutch. The ECU controls the two electromagnetic clutches to quickly and stably switch from the steering-by-wire system to the mechanical steering system. In the steering-by-wire mode, the second planetary gear train realizes the deceleration transmission between the steering execution motor and the rotating body. In the mechanical steering mode, the first planetary gear train is used for power transmission between the steering column and the rotating body.
Description
Technical Field
The disclosure relates to a single-motor fault-tolerant steer-by-wire system based on a planetary gear train.
Background
The Steer-By-Wire system of the automobile realizes the control of the motor through the cable, completes the steering process of the automobile, breaks through various limitations of the traditional mechanical steering, can flexibly control the steering force and the steering angle based on the driving intention of a driver, the road surface condition and the running state of the whole automobile, and improves the operation stability and the comfort of the whole automobile. The steer-by-wire system is one of the core systems of the automobile, and the driving stability of the automobile is directly influenced by the good and bad performance of the steer-by-wire system. Therefore, in the wire-controlled steering system, the reliability and safety of the operation of each device and mechanism are important. Since there is no mechanical connection between the steering wheel and the steered wheels in a steer-by-wire system, some electronic devices are relied upon to communicate actuation information to the actuation components. And the robustness of some electronic equipment is lower than that of mechanical, hydraulic and other parts, and electronic parts can fail without warning signals. For example, when a steering actuator motor fails, it must be quickly handled in a fault-tolerant manner, otherwise an undesired steering will occur. Therefore, an urgent need for an improved fault tolerance and fault diagnosis technique is one of the key technologies for the industrialization of the steer-by-wire technology.
SUMMERY OF THE UTILITY MODEL
At least one embodiment of the present disclosure provides a single-motor fault-tolerant steer-by-wire system based on a planetary gear train, which smoothly realizes a fast switch from steer-by-wire to mechanical steering when a steering actuator motor fails, and ensures that a steer-by-wire vehicle can still stably and safely run when the steering actuator motor fails.
At least one embodiment of the present disclosure provides a steer-by-wire system, including a steering wheel assembly, a steering actuator assembly, a controller, a rotor, a first electromagnetic clutch, a gear accelerator, a second electromagnetic clutch, a first planetary gear train and a second planetary gear train, a steering column of the steering wheel assembly is connected with an input shaft of the first electromagnetic clutch, an output shaft of the first electromagnetic clutch is connected with an input shaft of the gear accelerator, an output shaft of the gear accelerator is connected with an input shaft of the first planetary gear train, a gear ring of the first planetary gear train is fixed on the rotor, an axis of the gear ring of the first planetary gear train is collinear with a central axis of the rotor, a steering actuator motor of the steering actuator assembly is connected with the input shaft of the second electromagnetic clutch, an output shaft of the second electromagnetic clutch is connected with an input shaft of the second planetary gear train, the gear ring of the second planetary gear train is fixed on the rotating body, the axis of the gear ring of the second planetary gear train is collinear with the central axis of the rotating body, the rotating body is connected with a steering mechanism of a steering execution assembly, and the controller is connected with the steering wheel assembly, the steering execution assembly, the first electromagnetic clutch and the second electromagnetic clutch.
In some examples, a first wire moving disc is arranged on the rotating body, and the controller is connected with the steering execution motor through the first wire moving disc.
In some examples, a second wire moving disc is arranged on the rotating body, and the controller is connected with the second electromagnetic clutch through the second wire moving disc.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of a single-motor fault-tolerant steer-by-wire system based on a planetary gear train according to an embodiment of the present disclosure. In the figure, a, b, c, d, e, f, g, h, i, j and k are cables or signal lines, wherein d and e are externally connected signal lines and respectively represent a yaw rate signal and a vehicle speed signal of the automobile. The steering column housing is partially fixed in phantom in the figure.
Detailed Description
The prior art automobile steer-by-wire system comprises a steering wheel assembly, a steering execution assembly and a central controller ECU 7. The steering wheel assembly comprises a steering wheel 1, a corner sensor 3, a torque sensor 4, a road sensing motor reducer 5 and a road sensing motor 6. The main function of the steering wheel assembly is to convert the driver's steering intention (by measuring the steering wheel angle) into a digital signal and transmit it to the ECU 7; meanwhile, the steering wheel 1 aligning torque is generated by receiving the torque signal sent by the ECU 7 so as to provide corresponding road feel information for a driver. The steering actuating assembly comprises a steering actuating motor 14, a steering mechanism consisting of a suspension assembly 24, a knuckle arm 25, a steering pinion 26, a steering rack 27 and the like. The steering executing assembly receives the command of the ECU 7, and controls the wheels 23 to rotate through the steering executing motor 14, so as to realize the steering intention of the driver. The ECU 7 analyzes and processes the information collected by the steering angle sensor 3 and the torque sensor 4, and the vehicle yaw velocity signal d and the vehicle speed signal e obtained from the vehicle bus, judges the motion state of the vehicle, sends instructions to the road sensing motor 6 and the steering executing motor 14, controls the work of the two motors, ensures that the vehicle has ideal vehicle response under various working conditions, reduces the compensation task of the driver on the change of the vehicle steering characteristic along with the vehicle speed, and lightens the burden of the driver.
Fig. 1 is a schematic structural diagram of a single-motor fault-tolerant steer-by-wire system based on a planetary gear train according to an embodiment of the present disclosure. As shown in fig. 1, the steer-by-wire system of the present disclosure further includes a first electromagnetic clutch 8, a gear acceleration mechanism 9, a second electromagnetic clutch 17, a rotating body 18, a first planetary gear train and a second planetary gear train. The steering actuator motor 14, the second electromagnetic clutch 17, and the first planetary gear train and the second planetary gear train are disposed in a rotating body 18. Steering column 2 and 8 input shaft of first electromagnetic clutch, 8 output shafts of first electromagnetic clutch and 9 input shafts of gear acceleration mechanism, 9 output shafts of gear acceleration mechanism with the input shaft of first planetary gear train, the ring gear 11 of first planetary gear train is fixed on rotor 18, and the axis of ring gear 11 and the central axis collineation of rotor 18. The steering execution motor 14 is connected with an input shaft of a second electromagnetic clutch 17, an output shaft of the second electromagnetic clutch 17 is connected with an input shaft of the second planetary gear train, a gear ring 22 of the second planetary gear train is fixed on a rotating body 18, and the axis of the gear ring 22 is collinear with the central axis of the rotating body 18. The rotating body 18 is connected with a steering mechanism, and when the rotating body 18 rotates, the action of the steering mechanism is driven, so that the automobile steering is realized.
With continued reference to fig. 1, the ECU 7 is connected to the road-sensing motor 6, the first electromagnetic clutch 8, the steering actuator motor 14, and the second electromagnetic clutch 17. Furthermore, the rotor 2 is provided with a first wire winding disk 15 and a second wire winding disk 16. Two ends of the first wire winding disc 15 are respectively connected to cables j and g, the cable j is connected with the steering execution motor 14, and the cable g is connected with the ECU 7. Two ends of the second wire coil 16 are respectively connected to cables h and k, the cable k is connected with the second electromagnetic clutch 17, and the cable h is connected with the ECU 7. It can be ensured that the rotor 18 does not have the wire winding or the like when rotating as long as an appropriate balance spring length is ensured.
When the vehicle is operating in the steer-by-wire mode, the ECU 7 controls the first electromagnetic clutch 8 to be open via the cable f, while the ECU 7 controls the second electromagnetic clutch 17 to be closed via the cables h and k and the second capstan 16. The ECU 7 then transmits the desired rotation angle information to the steering actuator motor 14. The steering executing motor 14 rotates and drives the sun gear 21 of the second planetary gear train to rotate through the second electromagnetic clutch 17, and the planet gears 19 and the planet carrier 20 of the second planetary gear train drive the ring gear 22 to rotate. The gear ring 22 and the rotator 18 are integrated, so that the rotator 18 drives the steering mechanism to steer the automobile. Since the ring gear 11 and the rotor 18 of the first planetary gear train are also connected together, the sun gear 10, the planet gears 12, the planet carrier 13, and the gear acceleration mechanism 9 of the first planetary gear train rotate, but since the first electromagnetic clutch 8 is disconnected, the first planetary gear train and the gear acceleration mechanism 9 only idle and do not transmit power.
When the steering execution motor 14 fails (a failure signal is transmitted to the ECU 7 through the cables j, g and the first wire reel 15), it is possible to switch from the steer-by-wire mode to the mechanical steering mode. The specific process is as follows: the ECU 7 controls the first electromagnetic clutch 8 to be closed through the line f, while the ECU 7 controls the second electromagnetic clutch 17 to be opened through the lines h and k and the second wire disc 16. At this time, the power of the steering column 2 is transmitted through the first electromagnetic clutch 8 and the gear acceleration mechanism 9 in this order to rotate the sun gear 10 of the first planetary gear train. Because the planet carrier 13 of the first planetary gear train is fixed, the planet wheel 12 does not revolve and only can rotate around the planet carrier 13, so that the rotation of the sun wheel 10 can indirectly drive the rotation of the gear ring 11.
The gear ring 11 and the rotating body 18 are integrated, and the power of the upper part 2 of the steering column can be transmitted to the rotating body 18 to drive the steering mechanism to realize the steering of the automobile. In addition, when the rotating body 18 rotates, the ring gear 22 of the second planetary gear set drives the planetary gears 19 and the sun gear 21 to rotate, but since the second electromagnetic clutch 17 is disconnected, the rotation of the sun gear 21 does not cause the rotation of the steering executing motor 14. That is, the rotation of the rotating body 18 only causes the second planetary gear train to idle, and does not cause the forward rotation or reverse rotation of the steering actuating motor 14, so that the resistance load during the rotation of the mechanical steering system is effectively reduced, and the service life of the motor can be prolonged.
The steering actuating motor 14 is placed inside the rotating body 18, and under a linear control steering mode, the speed reduction transmission between the steering actuating motor 14 and the rotating body 18 is realized through the second planetary gear train. In the mechanical steering mode, the first planetary gear train is used for power transmission between the steering column 2 and the rotor 18. According to the automobile steering control system, the ECU 7 controls the two electromagnetic clutches 8 and 17 to rapidly and stably realize the switching from the steer-by-wire system to the mechanical steering system, and the driving stability and safety of an automobile are effectively guaranteed.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020888971.5U CN212267622U (en) | 2020-05-25 | 2020-05-25 | Single-motor fault-tolerant steering-by-wire system based on planetary gear train |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020888971.5U CN212267622U (en) | 2020-05-25 | 2020-05-25 | Single-motor fault-tolerant steering-by-wire system based on planetary gear train |
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| Publication Number | Publication Date |
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| CN212267622U true CN212267622U (en) | 2021-01-01 |
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| CN202020888971.5U Expired - Fee Related CN212267622U (en) | 2020-05-25 | 2020-05-25 | Single-motor fault-tolerant steering-by-wire system based on planetary gear train |
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| CN (1) | CN212267622U (en) |
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2020
- 2020-05-25 CN CN202020888971.5U patent/CN212267622U/en not_active Expired - Fee Related
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Granted publication date: 20210101 Termination date: 20210525 |