CN201086737Y - Vehicle steering servo-controlled system - Google Patents
Vehicle steering servo-controlled system Download PDFInfo
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- CN201086737Y CN201086737Y CNU2007200537356U CN200720053735U CN201086737Y CN 201086737 Y CN201086737 Y CN 201086737Y CN U2007200537356 U CNU2007200537356 U CN U2007200537356U CN 200720053735 U CN200720053735 U CN 200720053735U CN 201086737 Y CN201086737 Y CN 201086737Y
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Abstract
The utility model discloses an automobile steering servo control system that comprises a torque controller; the utility model is composed of countless strengthening characteristic curves; the torque controller can calculate the basic target current and dynamic target current according to the vehicle speed, the steering wheel handle force as well as feedback signals; the utility model utilizes a closed-loop negative feedback control method to select a strengthening characteristic curve, so as to meet drivers' requirements for safety and comfort; the utility model of the strengthener needs no hydraulic source, but a power source; therefore, the utility model has the advantages of fewer parts, convenient arrangement, light weight and saving engine energy by 3 to 5 percent, so as to improve automobile running performances; moreover, the utility model has no oil leakage, reduces the possibility of oil pollution and improves environment, so that the utility model is a green product to save energy, protect environments and guarantee high safety and superior comfort; therefore, the product can be used by automobiles with the front shaft load below 8 tons.
Description
Technical field
The utility model relates to a kind of servo control unit, and particularly a kind of automobile recirculating ball Worm-gear type turns to servo control unit.
Background technology
Now on the automobile widespread usage hydraulic power steering gear (being called for short HPS), its structure such as Fig. 1, it is made up of deflector and high-pressure oil pump, oil tank, oil inlet, oil return pipe, stroke limit valve module, up stroke limit valve set screw and down stroke limit valve set screw.Hydraulic power steering gear is a hydraulic pressure permanent current formula, its assist characteristic curve such as Fig. 2.Through producing over half a century and development,, reached very high level, but be difficult to satisfy energy-conservation, the high-comfort and high security of modern automobile technique to high-efficiency theoretical and technical quite ripe; From security requirement, it is too light that HPS exists when running at high speed bearing circle, and cause and drive unstable sensation, the road feel intensity difference, this is the insoluble difficult problem of this deflector; From energy-efficient, hydraulic pressure permanent current formula energy efficiency is low.Energy-conservation is the popular topic in the contemporary whole world, and improving rate of energy and energy savings is the problem that people pay close attention to most.Environmental protection also is that the problem of paying much attention to is advocated in the whole world, and the oil leakage problem of HPS also is difficult to overcome.
There are colleges and universities of a few institute, institute, manufacturer researching and developing electric-controlled hydraulic power-assisted steering device (being called for short EHPS) at present, its performance is superior more than HPS, obtain variable actuating force characteristic, the intrinsic energy utilization efficiency of hydraulic booster system hangs down and the defective of environmental issue but fail to break away from, in addition, EHPS is made up of hydraulic pressure and electronics two cover Fus, so make complex structure, cost increases.
On car, begun to use electric booster steering device at present abroad, this deflector only limits on the miniature car of preceding axle load≤1 ton, for example: the Cervo of Japan Suzuki Co., Ltd. car and Alto car, send out the Mira car of company and the Minica car of Mitsubishi Motors Corp etc. greatly.The power of current because motor, moment of torsion, and the restriction of size, vehicle electric power-assisted steering device is used for gently more, baby car, este wagon, pickup truck, and range of use is restricted.
Summary of the invention
In order to overcome the deficiencies in the prior art, the utility model provides a kind of simple, function admirable, wide motor turning servo control unit of range of use controlled.
The technical scheme that its technical matters that solves the utility model adopts is:
The motor turning servo control unit, the torque controller that comprises the power steering control part, the system device comprises the state-detection part of data processing module input end joint detection vehicle operation state, mouth connects parameter of electric machine computing module and system failure detection module, the parameter calculating module mouth connects motor-drive circuit by parameter controller, fault detection module mouth connection control system energy supply control module, energy supply control module connects motor-drive circuit, the motor-drive circuit mouth connects the motor testing circuit, and the motor testing circuit is given parameter calculating module with the signal feedback that detects, parameter controller and fault detection module.
The beneficial effects of the utility model are: the servo-unit that adopts the motor turning servo control unit only needs power supply and without hydraulic power source, number of parts is few, arrangement convenience, in light weight, and do not have " no load losses ", can save the driving engine energy 3～5%, improved the drive ability of automobile, there is not oil leakage, reduced the possibility of oil pollution, improved environment; Assist characteristic curve of the present utility model changes with automobile sport situation (speed of a motor vehicle, road conditions and bearing circle hand-power), therefore it has or not several assist characteristic curves, be different from hydraulic power steering gear and have only fixing and the irrelevant assist characteristic curve of speed, can satisfy the safety and the traveling comfort of chaufeur, it is a kind of energy-conserving and environment-protective, high security, high-comfort green product, applicable before the automobile of axle load below 8 tons.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is present used hydraulic power-assist steering system figure;
Fig. 2 is the assist characteristic curve of at present used hydraulic power steering gear;
Fig. 3 is a desirable assist characteristic model of the present utility model;
Fig. 4 is the block scheme of the utility model torque controller;
Fig. 5 is the schematic diagram of the utility model embodiment;
Fig. 6 is the schematic diagram that the utility model embodiment electric current calculates;
Fig. 7 is a schematic appearance of the present utility model;
Fig. 8 is that this uses later-model structural representation.
The specific embodiment
With reference to Fig. 4, Fig. 5, the utility model motor turning servo control unit, comprise power steering torque controller 3, torque controller 3 comprises that state-detection part 1 mouth that detects the vehicle mode of operation connects data processing module 21 discrepancy ends, state-detection part 1 comprises torque sensor 11, car speed sensor 12 and engine speed sensor 13, data processing module 21 comprises A/D converter 28 and frequency signal catcher 33, data processing module 21 mouths connect parameter calculating module 22 and fault detection module 24 input ends, parameter calculating module 22 comprises general objective electric current calculator 31, elementary object electric current calculator 29 and dynamic compensation target current calculator 30, elementary object electric current calculator 29 and dynamic compensation target current calculator 30 output to motor general objective electric current calculator 31 with result calculated, parameter calculating module 22 mouths connect motor-drive circuit 25 input ends by parameter controller 26, the power-assisted electric current of determining is issued driving circuit 25, driving circuit 25 connects assist motor 15, the rotating of control assist motor 15 and the size of moment, assist motor 15 connects deflector mechanics 4, help the hand-power power-assisted, fault detection module 24 connects energy supply control module 23, the excision control system does not influence manual operation when the system failure.
Energy supply control module 23 connects motor-drive circuit 25, give driving circuit 25 power supplies, motor-drive circuit 25 connects fault detection module 24 by motor testing circuit 27, voltage, the current parameters of motor are provided for fault detection module 24, participate in fault judgement, motor testing circuit 27 comprises electrode voltage testing circuit 31 and electrode voltage testing circuit 32, motor testing circuit 27 connects parameter calculating module 22 and parameter controller 26, and the electric current of motor is realized closed loop control as negative-feedback signal.
With reference to Fig. 7, Fig. 8, automobile recirculating ball Worm-gear type electric booster steering device comprises deflector mechanics 4 and torque controller (ECU) 3 and assist motor 15 compositions.Deflector mechanics 4 comprises steering gear housing 46, steering arm shaft 47, steering nut 48, steering screw 49, input shaft 42, torsion bar 41, sliding sleeve 43, worm gear 44 and worm screw 45, bearing circle drives input shaft 42 and rotates, driving steering nut 48 by steering screw 49 moves, steering nut 48 drives the steering arm shaft 47 that is meshed with it and rotates, thereby drive the plumbing arm swing, drag link is moved forward and backward, drive by goat's horn again that wheel is left and right to be turned to.
Servomotor part 15 provides power-assisted power source, its rating horsepower of motor 1.5KW that the utility model adopts, rated voltage 24V, rated current 67.2A, torque rating 12Nm.Automobile recirculating ball Worm-gear type electric booster steering device is the steering effort dynamic characteristic that state torque controller 3 calculates and selection is finished in advance by vehicle, supply with servomotor 15 electric currents, the main shaft of servomotor 15 and the worm screw of retarder 45 link, worm screw 45 drives the worm gear 44 that is meshed with it and rotates, worm gear 44 links with steering screw 49, servomotor 15 outputs needed power-assisted square under various states, help the hand-power on the bearing circle to turn to, its whole control process is finished like this:
With reference to Fig. 3～Fig. 8, steering wheel moment sensor 11 has two paths of signals, and main signal and secondary signal face, current of electric calculate and adopt the elementary object electric current to calculate and dynamic object electric current calculating two parts.Main signal sends to elementary object electric current calculator 29 by A/D converter 28 with the steering wheel moment signal, issue fault detection module 24 simultaneously, parameter as fault detection, secondary signal face sends to fault detection module 24 after by A/D converter 28, car speed sensor 12 is transferred to elementary object electric current calculator 29 after road speed frequency signal catcher 33 is changed, dynamic compensation target current calculator 30 and fault detection module 24, the electric current of the motor that while motor current detecting circuit 31 provides, the voltage that electric moter voltage testing circuit 32 provides sends to dynamic compensation target current calculator 30 and fault detection module 24 respectively, elementary object electric current calculator 29 is selected the steering effort dynamic characteristic according to steering wheel moment signal and road speed signal, calculate the elementary object electric current, dynamic compensation target current calculator 30 is according to the road speed signal, current of electric, electric moter voltage is selected steering effort dynamic compensation characteristic curve, calculate compensating current, motor general objective electric current calculator 31 calculates the total current of machine operation by certain rule according to elementary object electric current that receives and compensating current, the electric current of the degenerative motor of conduct that total current of calculating and motor current detecting circuit 31 provide is transferred to parameter controller 26 together, parameter controller 26 is given motor-drive circuit 25 with the current delivery after the computing, 15 actions of motor-drive circuit 23 drive motor, motor 15 sends different moments of torsion according to the size of the electric current that provides, and helps steering-wheel movement.
The moment that adopts the method for control current parameter to come control electrode in the present embodiment can certainly adopt control voltage or electric current and voltage method to control the moment of motor.Control circuit is according to the signal of each sensor, only turn to and return timing at vehicle, according to certain control policy and vehicle operation state, send control command, electric current is flowed to motor, implement power-assisted and return positive control, when steering handwheel mediates, control system is carried out the damped motion of both forward and reverse directions with the motor short circuit.Because booster torquemoment is to determine according to the dtc signal of the speed of a motor vehicle, resisting moment, bearing circle, total system adopts close loop negative feedback control, and under the different speed of a motor vehicle, have or not several steering force characteristic curves, can adapt to the suitable power-assisted square under the various situations of the different speed of a motor vehicle, the different torques of bearing circle, different steering resisting torques.
Claims (4)
1. motor turning servo control unit, the torque controller (3) that comprises control part, it is characterized in that torque controller (3) comprises the state-detection part (1) of data processing module (21) input end joint detection vehicle operation state, mouth connects parameter of electric machine computing module (22) and system failure detection module (24), parameter calculating module (22) mouth connects motor-drive circuit (25) by parameter controller (26), fault detection module (24) mouth connection control system energy supply control module (23), energy supply control module (23) connects motor-drive circuit (25), motor-drive circuit (25) mouth connects motor testing circuit (27), and motor testing circuit (27) is given parameter calculating module (22) with the signal feedback that detects, parameter controller (26) and fault detection module (24).
2. motor turning servo control unit according to claim 1, it is characterized in that described parameter calculating module (22) comprises motor general objective electric current calculator (31), elementary object electric current calculator (29) and dynamic compensation target current calculator (30), elementary object electric current calculator (29) and dynamic compensation target current calculator (30) are input to motor general objective electric current calculator (31) with result calculated, by exporting after certain regular computing.
3. motor turning servo control unit according to claim 1 and 2 is characterized in that described data processing module (21) comprises A/D converter (28) and frequency signal catcher (33); Described state-detection part (1) comprises torque sensor (11), car speed sensor (12) and engine speed sensor (13); Torque sensor (11) is leaded up to A/D converter (28) and is outputed signal to elementary object electric current calculator (29), and another road outputs signal to fault detection module (24) by A/D converter (28); Car speed sensor (12) outputs signal to elementary object electric current calculator (29), dynamic compensation target current calculator (30) and fault detection module (24) respectively by frequency signal catcher (33), and engine speed sensor (13) outputs signal to fault detection module (24) by frequency signal catcher (33).
4. motor turning servo control unit according to claim 1 and 2 is characterized in that described motor testing circuit (27) comprises motor current detecting circuit (31) and electric moter voltage testing circuit (32); Motor-drive circuit (25) is leaded up to motor current detecting circuit (31) and is outputed signal to parameter controller (26), dynamic compensation target current calculator (30) and fault detection module (24) respectively; Another road outputs signal to dynamic compensation target current calculator (30) and fault detection module (24) respectively by electric moter voltage testing circuit (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200537356U CN201086737Y (en) | 2007-06-30 | 2007-06-30 | Vehicle steering servo-controlled system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200537356U CN201086737Y (en) | 2007-06-30 | 2007-06-30 | Vehicle steering servo-controlled system |
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| Publication Number | Publication Date |
|---|---|
| CN201086737Y true CN201086737Y (en) | 2008-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200537356U Expired - Fee Related CN201086737Y (en) | 2007-06-30 | 2007-06-30 | Vehicle steering servo-controlled system |
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| CN (1) | CN201086737Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009690A (en) * | 2010-12-31 | 2011-04-13 | 徐州重型机械有限公司 | Crane as well as steering security control system and method thereof |
| CN103674365A (en) * | 2012-09-03 | 2014-03-26 | 现代摩比斯株式会社 | Compensation torque calculating device and method |
| CN106004997A (en) * | 2016-06-27 | 2016-10-12 | 海特汽车科技（苏州）有限公司 | EPS (electric power assisted steering) control device and time delay power assisted control method thereof |
-
2007
- 2007-06-30 CN CNU2007200537356U patent/CN201086737Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009690A (en) * | 2010-12-31 | 2011-04-13 | 徐州重型机械有限公司 | Crane as well as steering security control system and method thereof |
| CN102009690B (en) * | 2010-12-31 | 2012-11-21 | 徐州重型机械有限公司 | Crane as well as steering security control system and method thereof |
| CN103674365A (en) * | 2012-09-03 | 2014-03-26 | 现代摩比斯株式会社 | Compensation torque calculating device and method |
| CN103674365B (en) * | 2012-09-03 | 2016-08-10 | 现代摩比斯株式会社 | Compensation torque calculating device and method |
| CN106004997A (en) * | 2016-06-27 | 2016-10-12 | 海特汽车科技（苏州）有限公司 | EPS (electric power assisted steering) control device and time delay power assisted control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: White stone industry development zone, Jiangmen Port Road, Pengjiang District, Guangdong Province, China: 529030 Patentee after: Xingjiang Steering Gear Co., Ltd. Address before: No. 32, development avenue, Zhongshan, Guangdong Province, China: 529030 Patentee before: Xingjiang Steering Gear Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080716 Termination date: 20150630 |
|
| EXPY | Termination of patent right or utility model |