CN104760612A - Double-motor electric power-assisted steering system and power-assisted steering method thereof - Google Patents
Double-motor electric power-assisted steering system and power-assisted steering method thereof Download PDFInfo
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- CN104760612A CN104760612A CN201510102541.XA CN201510102541A CN104760612A CN 104760612 A CN104760612 A CN 104760612A CN 201510102541 A CN201510102541 A CN 201510102541A CN 104760612 A CN104760612 A CN 104760612A
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Abstract
The invention discloses a double-motor electric power-assisted steering system and a power-assisted steering method of the system. A main power-assisted motor and an auxiliary power-assisted motor in the system are connected with a first torque coupler through a first normally-closed electromagnetic clutch and a second electromagnetic clutch; an output shaft of the first torque coupler is connected with a second torque coupler through a third electromagnetic clutch, and the output end of the second torque coupler is connected with a steering gear; and the output end of a steering wheel torque angle sensor, the control end of the main power-assisted motor, the control end of the auxiliary power-assisted motor, the control end of the first electromagnetic clutch, the control end of the second electromagnetic clutch and the control end of the third electromagnetic clutch are connected with a control unit. The two power-assisted motors which are connected with the torque coupler through the electromagnetic clutches are arranged and either or both of the power-assisted motor are controlled through the control unit to output torque or to output torques at the same time according to vehicle speed signals and steering wheel angle torque signals. The requirement of commercial vehicles and the like needing large power-assisted torques is met, and the fuel economy of the commercial vehicles is improved, and the operation cost is reduced.
Description
[technical field]
The present invention relates to servo-steering technical field, particularly a kind of dual-motor electric servo steering system and servo-steering method thereof.
[background technology]
Existing electric boosting steering system safety, reliability are high, and cornering properties curve is more satisfactory.Meanwhile, owing to adopting DC machine, do not need driving engine to provide high pressure oil, car load fuel economy is good.But by automotive battery power supply voltage, the restriction of the aspects such as installation dimension, electric power steering Driving Torque is less, cannot meet the requirement of commercial vehicle power steering, and current application is still limited to manned vehicle or light commercial vehicle.
[summary of the invention]
The object of the present invention is to provide a kind of dual-motor electric servo steering system and servo-steering method thereof, too small to solve electric power steering Driving Torque, the problem applied on commercial vehicle/comm..vehicle cannot be met.
To achieve these goals, the present invention adopts following technical scheme:
A kind of dual-motor electric servo steering system, comprises bearing circle, steering wheel torque rotary angle transmitter, control unit, the first torsion coupler, the second torsion coupler, deflector, main assist motor and auxiliary assist motor, the first magnetic clutch, the second magnetic clutch and the 3rd magnetic clutch; Steering wheel torque rotary angle transmitter is arranged at below bearing circle, for torque, the angular signal of Real-time Collection bearing circle; Main assist motor is connected first torsion coupler by the first normally closed magnetic clutch with the second magnetic clutch with auxiliary assist motor; The output shaft of the first torsion coupler connects the second torsion coupler by the 3rd magnetic clutch; The mouth of the second torsion coupler connects deflector; The control end connection control unit of the control end of the mouth of steering wheel torque rotary angle transmitter, the control end of main assist motor, auxiliary assist motor, the control end of the first magnetic clutch, the control end of the second magnetic clutch and the 3rd magnetic clutch.
Preferably, retarder and overload protective device is connected with in turn between the output shaft of the first torsion coupler and the 3rd magnetic clutch.
Preferably, overload protective device comprises upper flange plate and lower flange; Have some to corresponding hole in upper flange plate and lower flange, and connected by rubber connecting pin.
Preferably, the first steering shaft that bearing circle is connected successively by below is connected the second torsion coupler with the second steering shaft.
Preferably, the first magnetic clutch and the 3rd magnetic clutch are normally closed magnetic clutch.
Preferably, control unit controls the Driving Torque of main assist motor and auxiliary assist motor according to the speed of a motor vehicle, steering wheel torque, angular signal; When required power torque is less than or equal to the maximum torque that main assist motor can export, control unit disconnects the second magnetic clutch and controls auxiliary assist motor and exports or stopped status at slow speed of revolution; When required power torque is greater than the maximum torque that main assist motor can export, control unit closes the second magnetic clutch, and the torque improving auxiliary assist motor exports, and the torque coupling being realized two assist motors by the first torsion coupler is exported.
A kind of servo-steering method of dual-motor electric servo steering system, comprise the following steps: the vehicle speed signal that car speed sensor gathers, the angular signal of steering wheel torque rotary angle transmitter collection exports control unit to, lateral acceleration is gone out according to the speed of a motor vehicle, steering wheel angle calculated signals by control unit, and steering torque, lateral acceleration and the speed of a motor vehicle change curve average had a preference for the chaufeur that stores in control unit compares, and draws the steering torque that bearing circle should have; Then, the steering torque that the bearing circle calculated should have by control unit and the steering wheel torque that steering wheel torque rotary angle transmitter is measured compare, and draw the torque that assist motor should export; Control unit should judge by Driving Torque assist motor, if the torque that assist motor should export is less than or equal to the maximum torque that main assist motor can provide, control unit disconnects the second magnetic clutch, and control to assist assist motor to be in low torque, slow speed of revolution or stopped status, the Driving Torque of main assist motor is controlled by control unit; If the torque that assist motor should export is greater than the maximum torque that main assist motor can provide, control unit closes the second magnetic clutch, and improve Driving Torque and the output speed of auxiliary assist motor, control main assist motor by control unit and auxiliary assist motor realizes torque coupling by the first torsion coupler, common Driving Torque completes power steering.
Relative to prior art, the present invention has the following advantages: the present invention is by arranging two realize torque coupling by the first torsion coupler assist motor through the first magnetic clutch and electric second magnetic clutch, according to the size of required power torque, control single assist motor or two assist motors Driving Torque simultaneously, meet the demand of the larger power steering torque of the needs such as commercial vehicle, adopt the electric boosting steering system of large Driving Torque for the fuel economy improving commercial vehicle/comm..vehicle, reduce operating cost and there is positive effect.The present invention plays the effect of slowing down and increasing and turning round by arranging retarder, improves assist motor Driving Torque further; The present invention is by arranging overload protective device, and when motor and control module fault, when there is auto-steering, because torque is excessive, rubber connecting pin will rupture, and cuts off transmission of torque, plays the effect of overload protection.
In the present invention, whether the second magnetic clutch is coupled with the Driving Torque of main assist motor for the Driving Torque controlling auxiliary assist motor; Auxiliary assist motor also can be used as motor for subsequent use simultaneously, when main assist motor fault, disconnects the first magnetic clutch, and closed second magnetic clutch, provides power torque separately by auxiliary assist motor; 3rd magnetic clutch is that normally off plays emergency protection effect, and when the system failure, the 3rd magnetic clutch is opened, and prevents vehicle auto-steering generation grave accident; The present invention comprises the duplicate protection of overload protective device and the 3rd magnetic clutch, ensures to turn to reliability under electric power steering fault.
[accompanying drawing explanation]
Fig. 1 is the structure principle chart of double-motor servo steering system of the present invention;
Fig. 2 a is the constructional drawing of overload protective device; Fig. 2 b is the birds-eye view of Fig. 2 a;
Fig. 3 is the control policy figure of dual-motor electric servo steering system of the present invention;
Fig. 4 tests the chaufeur that obtains average had a preference for steering torque, lateral acceleration and speed of a motor vehicle change curve for Jilin University.
In figure: 1-bearing circle, 2-steering wheel torque rotary angle transmitter, 3-control unit; 4-second steering shaft, 5-1-first torsion coupler, 5-2-second torsion coupler; 6-deflector, 7-first steering shaft, the main assist motor of 8-; 9-assists assist motor, 10-1-first magnetic clutch, 10-2-second magnetic clutch; 10-3-the 3rd magnetic clutch, 11-retarder, 12-overload protective device; 13-overload protective device upper flange plate, 14-rubber connecting pin, 15-overload protective device lower flange.
[detailed description of the invention]
Refer to shown in Fig. 1; a kind of dual-motor electric servo steering system of the present invention, comprising: bearing circle 1, steering wheel torque rotary angle transmitter 2, control unit 3, second steering shaft 4, first torsion coupler 5-1, the second torsion coupler 5-2, deflector 6, first steering shaft 7, main assist motor 8, auxiliary assist motor 9, the first normally closed magnetic clutch 10-1, the second magnetic clutch 10-2, normally closed the 3rd magnetic clutch 10-3, retarder 11 and overload protective device 12.
Connect the first steering shaft 7, first steering shaft 7 below bearing circle 1 and connect the second steering shaft 4 by universal-joint; For the quantity of steering shaft, can select according to concrete arrangement relation, this sentences two steering shafts is example.Steering wheel torque rotary angle transmitter 2 is arranged at below bearing circle 1, for torque, the angular signal of Real-time Collection bearing circle 1; Main assist motor 8 and auxiliary assist motor 9, through the first magnetic clutch 10-1 and the second magnetic clutch 10-2, realize torque coupling by the first torsion coupler 5-1; The input end of the mouth connection reducer 11 of the first torsion coupler 5-1, for reducing free-wheeling assembly output speed, increases Driving Torque; Retarder 11 mouth connects overload protective device 12; A normally closed 3rd magnetic clutch 10-3 is met after overload protective device 12; Normally closed 3rd magnetic clutch 10-3 and the second steering shaft 4 realize torque coupling through the second torsion coupler 5-2; The Driving Torque of the second torsion coupler 5-2 acts on deflector 6, realizes motor turning.Steering wheel torque rotary angle transmitter 2, main assist motor 8, auxiliary assist motor 9, normally closed first magnetic clutch 10-1, the second magnetic clutch 10-2 and normally closed 3rd magnetic clutch 10-3 connection control unit 3.
As shown in Figure 3, overload protective device 12 comprises upper flange plate 13 and lower flange 15 to the structure of overload protective device 12; Have four corresponding holes in upper flange plate 13 and lower flange 15, connected by rubber connecting pin 14, when electric boosting steering system fault, when conference is crossed in torque, rubber connecting pin 14 ruptures, and electric power steering was lost efficacy, plays the effect of overload protection.The mouth of upper flange plate 13 connection reducer 11, lower flange 15 connects one end of the 3rd magnetic clutch 10-3.The other end and second steering shaft 4 of the 3rd magnetic clutch 10-3 realize torque coupling by torsion coupler 5, and coupling torque realizes Vehicular turn by deflector 6.
When servo steering system fault, controlled by control unit 3, disconnect the 3rd magnetic clutch 10-3, prevent the generation of auto-steering; When main assist motor 8 fault, controlled by control unit 3, disconnect the first magnetic clutch 10-1, closed second magnetic clutch 10-2, provides power torque separately by auxiliary assist motor 9; 3rd magnetic clutch 10-3 Driving Torque is connected with the second steering shaft 4 by torsion coupler 5, the torque that turns to after synthesis is outputted to deflector 6, thus realizes servo-steering process.
Control unit 3 is according to vehicle speed signal, steering wheel torque, angular signal, calculate vehicle lateral acceleration, and the steering torque, steering wheel angle and the speed of a motor vehicle change curve (utilizing opening driving simulator to draw steering torque lateral acceleration and the speed of a motor vehicle change curve of chaufeur average institute preference for National Key Laboratory of Jilin University) that store in compared with control unit 3, as Fig. 4; This curve is disclosed in hand-wheel torque characteristic research one literary composition based on the chaufeur institute preference of driving simulator, China Mechanical Engineering, 08 phase in 2007; Certainly also do-it-yourself experiment steering wheel angle under the different speed of a motor vehicle and the main assist motor of steering torque curve controlled 8 of drivers preference and the Driving Torque of auxiliary assist motor 9 can be drawn.
Refer to shown in Fig. 3, the power steering method of a kind of dual-motor electric servo steering system of the present invention, comprises the following steps:
The vehicle speed signal that car speed sensor gathers, the corner that steering wheel torque rotary angle transmitter 2 gathers, dtc signal export control unit 3 to, lateral acceleration is gone out according to the speed of a motor vehicle, steering wheel angle calculated signals by control unit 3, and steering torque, lateral acceleration and the speed of a motor vehicle change curve average had a preference for the chaufeur that stores in control unit 3 compares, and draws the steering torque that bearing circle should have; Then, the steering wheel torque that the steering torque that should have calculated and steering wheel torque rotary angle transmitter 2 are measured compares by control unit 3, calculates the torque that assist motor should export; Then assist motor should be judged by Driving Torque, if the torque that assist motor should export is less than or equal to the maximum torque that main assist motor 8 can provide, control unit 3 disconnects the second magnetic clutch 10-2, and control to assist assist motor 9 to be in low torque, slow speed of revolution output or stopped status, the Driving Torque being controlled main assist motor 8 by control unit 3 completes power steering; If Driving Torque is greater than the maximum torque that main assist motor 8 can provide, the closed second magnetic clutch 10-2 of control unit 3, and control to assist assist motor to be in high torque (HT), high rotating speed output state, complete power steering by the first torsion coupler 5-1 coupling power torque.When servo steering system fault, controlled by control unit 3, disconnect the 3rd magnetic clutch 10-3, prevent the generation of auto-steering; When main assist motor 8 fault, controlled by control unit 3, disconnect the first magnetic clutch 10-1, closed second magnetic clutch 10-2, provides power torque separately by auxiliary assist motor 9.This dual-motor electric servo steering system needs Real-time Collection steering wheel angle dtc signal, and vehicle speed signal regulates two motor output torques and rotating speed, carries out serial update, realize closed loop control to two motor speeds.
Claims (7)
1. a dual-motor electric servo steering system, it is characterized in that, comprise bearing circle (1), steering wheel torque rotary angle transmitter (2), control unit (3), the first torsion coupler (5-1), the second torsion coupler (5-2), deflector (6), main assist motor (8) and auxiliary assist motor (9), the first magnetic clutch (10-1), the second magnetic clutch (10-2) and the 3rd magnetic clutch (10-3);
Steering wheel torque rotary angle transmitter (2) is arranged at bearing circle (1) below, for torque, the angular signal of Real-time Collection bearing circle (1); Main assist motor (8) is connected first torsion coupler (5-1) by the first normally closed magnetic clutch (10-1) with the second magnetic clutch (10-2) with auxiliary assist motor (9); The output shaft of the first torsion coupler (5-1) connects the second torsion coupler (5-2) by the 3rd magnetic clutch (10-3); The mouth of the second torsion coupler (5-2) connects deflector (6);
The control end connection control unit (3) of the control end of the mouth of steering wheel torque rotary angle transmitter (2), main assist motor (8), the control end of auxiliary assist motor (9), the control end of the first magnetic clutch (10-1), the control end of the second magnetic clutch (10-2) and the 3rd magnetic clutch (10-3).
2. a kind of dual-motor electric servo steering system according to claim 1; it is characterized in that, between the output shaft of the first torsion coupler (5-1) and the 3rd magnetic clutch (10-3), be connected with retarder (11) and overload protective device (12) in turn.
3. a kind of dual-motor electric servo steering system according to claim 2, is characterized in that, overload protective device (12) comprises upper flange plate (13) and lower flange (15); Have some to corresponding hole in upper flange plate (13) and lower flange (15), and connected by rubber connecting pin (14).
4. a kind of dual-motor electric servo steering system according to claim 1, it is characterized in that, the first steering shaft (7) that bearing circle (1) is connected successively by below is connected the second torsion coupler (5-2) with the second steering shaft (4).
5. a kind of dual-motor electric servo steering system according to claim 1, is characterized in that, the first magnetic clutch (10-1) and the 3rd magnetic clutch (10-3) are normally closed magnetic clutch.
6. a kind of dual-motor electric servo steering system according to claim 1, it is characterized in that, control unit (3) controls the Driving Torque of main assist motor (8) and auxiliary assist motor (9) according to the speed of a motor vehicle, steering wheel torque, angular signal; When required power torque is less than or equal to the maximum torque that main assist motor (8) can export, control unit (3) disconnects the second magnetic clutch (10-2) and controls auxiliary assist motor (9) and exports or stopped status at slow speed of revolution; When required power torque is greater than the maximum torque that main assist motor (8) can export, control unit (3) closes the second magnetic clutch (10-2), and the torque improving auxiliary assist motor (9) exports, the torque coupling being realized two assist motors by the first torsion coupler (5-1) is exported.
7. the servo-steering method of a dual-motor electric servo steering system, it is characterized in that, based on the dual-motor electric servo steering system according to any one of claim 1 to 6, comprise the following steps: the vehicle speed signal that car speed sensor gathers, the angular signal that steering wheel torque rotary angle transmitter (2) gathers exports control unit (3) to, by control unit (3) according to the speed of a motor vehicle, steering wheel angle calculated signals goes out lateral acceleration, and the steering torque average had a preference for the middle chaufeur stored of control unit (3), lateral acceleration and speed of a motor vehicle change curve compare, draw the steering torque that bearing circle should have, then, the steering torque that the bearing circle calculated should have by control unit (3) and the steering wheel torque that steering wheel torque rotary angle transmitter (2) is measured compare, and draw the torque that assist motor should export, control unit (3) should judge by Driving Torque assist motor, if the torque that assist motor should export is less than or equal to the maximum torque that main assist motor (8) can provide, control unit (3) disconnects the second magnetic clutch (10-2), and control to assist assist motor (9) to be in low torque, slow speed of revolution or stopped status, the Driving Torque of main assist motor (8) is controlled by control unit (3), if the torque that assist motor should export is greater than the maximum torque that main assist motor (8) can provide, control unit (3) closes the second magnetic clutch (10-2), and improve Driving Torque and the output speed of auxiliary assist motor (9), control main assist motor (8) by control unit (3) and auxiliary assist motor (9) realizes torque coupling by the first torsion coupler (5-1), common Driving Torque completes power steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510102541.XA CN104760612A (en) | 2015-03-09 | 2015-03-09 | Double-motor electric power-assisted steering system and power-assisted steering method thereof |
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| CN201510102541.XA CN104760612A (en) | 2015-03-09 | 2015-03-09 | Double-motor electric power-assisted steering system and power-assisted steering method thereof |
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| CN201510102541.XA Pending CN104760612A (en) | 2015-03-09 | 2015-03-09 | Double-motor electric power-assisted steering system and power-assisted steering method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375480A (en) * | 2018-04-09 | 2018-08-07 | 安徽工程大学 | A kind of car conversion system testing table |
| CN109204451A (en) * | 2018-09-11 | 2019-01-15 | 长安大学 | A kind of dual-motor electric servo steering system and its power-assisted steering method |
| CN109204450A (en) * | 2018-09-11 | 2019-01-15 | 长安大学 | Dual-motor electric servo steering system and forward method based on electromagnetic clutch |
| CN109606465A (en) * | 2019-02-02 | 2019-04-12 | 北京奥特尼克科技有限公司 | A kind of advanced automatic Pilot electro-hydraulic diverter for having redundant electric machine |
| CN110588769A (en) * | 2019-10-21 | 2019-12-20 | 清华大学 | Wire-controlled steering system and control method thereof |
| CN110588770A (en) * | 2019-10-21 | 2019-12-20 | 清华大学 | Active steering system, active steering control method and device |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN110733565A (en) * | 2018-07-20 | 2020-01-31 | 丰田自动车株式会社 | Vehicle control device, control method, and computer-readable nonvolatile storage medium |
| CN111055918A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and control method thereof |
| CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108375480A (en) * | 2018-04-09 | 2018-08-07 | 安徽工程大学 | A kind of car conversion system testing table |
| CN108375480B (en) * | 2018-04-09 | 2020-03-17 | 安徽工程大学 | Automobile steering system test bed |
| CN110733565A (en) * | 2018-07-20 | 2020-01-31 | 丰田自动车株式会社 | Vehicle control device, control method, and computer-readable nonvolatile storage medium |
| CN109204451A (en) * | 2018-09-11 | 2019-01-15 | 长安大学 | A kind of dual-motor electric servo steering system and its power-assisted steering method |
| CN109204450A (en) * | 2018-09-11 | 2019-01-15 | 长安大学 | Dual-motor electric servo steering system and forward method based on electromagnetic clutch |
| CN109606465A (en) * | 2019-02-02 | 2019-04-12 | 北京奥特尼克科技有限公司 | A kind of advanced automatic Pilot electro-hydraulic diverter for having redundant electric machine |
| CN110588769B (en) * | 2019-10-21 | 2020-07-28 | 清华大学 | Wire-controlled steering system and control method thereof |
| CN110588769A (en) * | 2019-10-21 | 2019-12-20 | 清华大学 | Wire-controlled steering system and control method thereof |
| CN110588770A (en) * | 2019-10-21 | 2019-12-20 | 清华大学 | Active steering system, active steering control method and device |
| CN110712677A (en) * | 2019-11-29 | 2020-01-21 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN110712677B (en) * | 2019-11-29 | 2024-02-27 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
| CN111055918A (en) * | 2019-12-18 | 2020-04-24 | 南京航空航天大学 | Dual-motor steer-by-wire system based on dual-winding motor and control method thereof |
| CN111152835A (en) * | 2020-01-13 | 2020-05-15 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
| CN111152835B (en) * | 2020-01-13 | 2020-11-06 | 南京航空航天大学 | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method |
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Application publication date: 20150708 |