CN112918548A - Magnetorheological damping road feel stepless speed change steer-by-wire device and method - Google Patents
Magnetorheological damping road feel stepless speed change steer-by-wire device and method Download PDFInfo
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- CN112918548A CN112918548A CN202110110064.7A CN202110110064A CN112918548A CN 112918548 A CN112918548 A CN 112918548A CN 202110110064 A CN202110110064 A CN 202110110064A CN 112918548 A CN112918548 A CN 112918548A
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- 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
- B62D5/0409—Electric motor acting on the steering column
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- 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
- B62D5/043—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
- B62D5/0433—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type
- B62D5/0436—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type the clutch being a controlled emergency clutch, e.g. for disconnecting at motor break-down
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- 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
- B62D5/0457—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 control features of the drive means as such
- B62D5/046—Controlling the motor
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a magneto-rheological damping road feel stepless speed change steer-by-wire device and a method, the device comprises a road feel feedback system based on a magneto-rheological damper and a steer execution system based on a stepless speed changer, and various working modes can be switched under the control of an electronic control unit, so that the normal steer function can be ensured when the on-line control mode fails. The invention overcomes the problems of single steering power source, poor safety when a steering system motor fails, unrealistic steering road feel simulation and low steering precision in the traditional steer-by-wire technology, and has simple and compact structure, rapid and accurate road feel simulation and certain safety.
Description
Technical Field
The invention relates to the automobile steer-by-wire technology, in particular to a stepless speed change steer-by-wire device and a method with magneto-rheological damping road feel.
Background
At present, the gradual intellectualization and electrification of an automobile are realized, and steer-by-wire is a key link in the intelligent development process of the automobile, in particular to one of the necessary technologies of unmanned driving. Steer-by-wire technology is becoming mature and has been applied to a small number of vehicle models. The steer-by-wire system is required to have redundancy and fault-tolerant functions, and not only needs to realize a diagnosis and fault-tolerant control algorithm on software, but also needs hardware to carry out redundancy design, so that the steer-by-wire system has complex hardware arrangement, high cost and low hardware utilization rate.
There are many studies on steer-by-wire technology, and korean modern automobile company has proposed a steer-by-wire apparatus and method of a dual motor driven rack (patent No. US201600144890a1), which does not solve the motor space installation problem and the steering mode in which the dual motor fails. Becker et al propose an electronic control hydraulic steer-by-wire system (patent No. US20160068182A1), the device controls the pressure of a steering wheel cylinder through two motor pumps, drives tie rods on two sides to move left and right, but the response speed of the motor building hydraulic pressure is slow, the high pressure oil pipeline increases oil leakage and has unreliable factors such as air bubbles, and direct mechanical connection after steer-by-wire failure can not be realized.
A dual-motor redundant steer-by-wire system designed by England of Feinidi has been successfully applied to a real vehicle, the system is respectively provided with a motor speed changer driving a steering gear pinion at the left end and the right end of a rack to drive the rack to move left and right, a clutch is closed when the system fails, the left steering gear pinion is connected with a mechanical steering column to realize steering, but the redundant structure of the system is complex, and a steering tie rod is driven by a speed reducer through a gear rack steering gear by dual motors, so that the transmission efficiency is low.
The invention relates to a hybrid line control steering system (patent No. 201610989594.2) of Yanglin and the like, wherein a road sensing motor and a power-assisted motor are separated, only one set of steering execution motor is used for driving a double-row planetary gear reducer, a tie rod is driven by a worm rack to move left and right, a force transmission characteristic and an angle transmission characteristic which are controllable in real time are arranged between a steering wheel and a steering wheel, and a mechanical steering state is recovered through a clutch when the system fails, but the system is complex in structure and low in transmission efficiency.
Leshasong et al has designed a car front wheel initiative steering coupling device (patent number 201610907896.0) based on double-row planetary gear train, the device includes power drive unit and mechanical transmission unit installed in casing installed on the casing, the hand input part power is transmitted through the input shaft, the corner after helping the corner motor part to transmit coupling through the turbine worm is exported by the ring gear to the outside, has realized the transmission of variable drive ratio, make the steering process safer, more flexible. However, the device adopts a single motor design, the transmission path is complex, the working efficiency of the motor is reduced, and the steering mode of motor failure cannot be realized.
The beam is why a steering mechanism of a double row planetary gear mechanism (patent No. 201821093445.9) is designed, and the steering-by-wire mechanism can select various working modes. The aim of switching different working modes is achieved by respectively controlling a brake switch of the motor M1 and the motor M2 and a suction switch of the ring gear electromagnetic clutch. The variable transmission ratio transmission is realized, and the steering process is safer. But the mechanism is more complicated and the cost is higher.
Disclosure of Invention
The invention aims to solve the technical problem of providing a stepless speed change steer-by-wire device and a method with magneto-rheological damping road feel aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
a magneto-rheological damping road-sensing stepless speed change steer-by-wire device comprises a steering wheel, a steering wheel sensor, a steering column, a stepless speed change mechanism, an electromagnetic clutch, a magneto-rheological damper, a connecting column, a steer-by-wire motor, a steer-by-wire driving gear, a steer-by-wire driven gear, a steering rack, a first microcontroller, a second microcontroller and an electronic control unit;
one end of the steering column is rigidly connected with a rotating shaft of a steering wheel through a steering wheel sensor, and the other end of the steering column is connected with a driving wheel of the stepless speed change mechanism through an electromagnetic clutch;
a driven wheel of the stepless speed change mechanism is coaxially and fixedly connected with the steering gear through the connecting column;
the steering rack is arranged on the frame, and two ends of the steering rack are respectively connected with two driving wheels of the automobile through a tie rod, a trapezoidal arm, a steering knuckle in sequence; the steering gear is meshed with the steering rack;
the magnetorheological damper is connected with the steering column through a spline;
the drive-by-wire driven gear adopts a hollow gear and is sleeved on the output shaft and coaxially and fixedly connected with the output shaft; the output shaft of the steer-by-wire motor is coaxially and fixedly connected with the drive-by-wire gear, and the drive-by-wire gear is meshed with the driven-by-wire gear;
the first microcontroller is used for controlling the magneto-rheological damper to provide road feel for the steering wheel, and the second microcontroller is used for controlling the steer-by-wire motor, the electromagnetic clutch and the stepless speed change mechanism;
the electronic control unit is electrically connected with the steering wheel sensor, the first microcontroller and the second microcontroller respectively and used for receiving the speed and yaw velocity signals of the automobile, combining the torque and rotating speed signals measured by the steering wheel sensor and controlling the work of the magneto-rheological damper, the wire control steering motor and the stepless speed change mechanism through the first microcontroller and the second microcontroller.
The invention also provides a mechanical steering working method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises the following steps:
the electronic control unit receives the speed and yaw rate signals of the automobile, and monitors whether the steer-by-wire device has fault and whether the residual energy of the automobile is insufficient in real time by combining the torque and rotating speed signals detected by the steering wheel sensor;
if the steer-by-wire device fails or the energy of the automobile is insufficient, the electronic control unit controls the electromagnetic clutch to be separated and jointed, controls the magnetorheological damper to enable the damping coefficient of the magnetorheological damper to be 0, and controls the stepless speed change mechanism to regulate and control the transmission ratio of the electric automobile through the second microcontroller;
the torque applied to the steering wheel by the driver is transmitted to the wheels so as to keep the steering function normal and wait for the electric automobile to be charged or to be overhauled after safety.
The invention also provides a steer-by-wire working method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises the following steps:
the electronic control unit receives the speed and yaw rate signals of the automobile, and monitors whether the steer-by-wire device has fault and whether the residual energy of the automobile is insufficient in real time by combining the torque and rotating speed signals detected by the steering wheel sensor;
if the steer-by-wire device is not in fault or the energy of the automobile is sufficient, the electronic control unit controls the electromagnetic clutch to separate when steering is carried out, and road feel feedback torque or steering torque is calculated; then the electronic control unit controls the steer-by-wire motor to drive the steering gear through the first microcontroller, and further drives a driving wheel of a steering automobile to complete steering operation; meanwhile, the electronic control unit controls the damping coefficient of the magnetorheological damper through a second microcontroller to generate resisting moment;
when the steering wheel is righted, the electronic control unit controls the electromagnetic clutch to be connected, power transmission between the steering wheel and the steering actuating mechanism is connected, the magnetorheological damper is controlled to enable the damping coefficient to be 0, and the righting moment of the steering wheel is generated by the action of the gravity of an automobile and the lateral force of wheels.
The invention also provides an automatic driving method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises the following steps:
the electronic control unit controls the electromagnetic clutch to separate, controls the damping coefficient of the magnetorheological damper to be infinite, and fixes the steering wheel; and meanwhile, the electronic control unit controls the steer-by-wire motor to work through the second microcontroller according to an external instruction of the automobile, so that steering operation is completed.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. compact structure easily arranges: the invention adopts a stepless speed change structure, fully utilizes the radial space of the steering column to reduce the size of the motor, does not add a motor speed reducing mechanism near a steering gear, can continue to use the arrangement mode of the traditional mechanical steering system, and has the characteristic of variable transmission ratio under the working mode of the traditional mechanical steering system;
2. the transmission efficiency is high: the motor receives a control signal from the microcontroller and directly transmits and drives the steering column and the steering pinion, so that the transmission efficiency can be improved;
3. the fault tolerance is high, and the security performance is good: the invention has a plurality of working modes under the control of the electronic control unit, and the working modes are backup for each other. When an automobile runs, a steer-by-wire mode is used by default, when an electronic control unit detects that a steer-by-wire motor fails or the energy of an automobile battery is insufficient, a power transmission route of the steer motor is cut off, an electromagnetic clutch is engaged, a mechanical steer mode is started, normal transmission of a steer command is ensured, and the reliability of steering is ensured to the maximum extent;
4. and (3) high-speed driving stability: the invention can provide road feel information for the steering wheel by controlling the magneto-rheological damper, and the stability of the steer-by-wire process is ensured by utilizing the rapidity of the magneto-rheological damper response and no noise in the adjusting process, thereby better adapting to the road condition and improving the steering stability of the automobile.
Drawings
FIG. 1 is a schematic diagram of a novel electric vehicle steer-by-wire mechanism of the present invention;
FIG. 2 is a flow chart of a control method for a novel steer-by-wire mechanism of an electric vehicle according to the present invention;
in the figure, 1-steering wheel, 2-steering wheel sensor, 3-steering column, 4-steering rack, 5-steering tie rod, 6-trapezoidal arm, 7-steering knuckle, 8-wheel, 9-steer-by-wire motor, 10-stepless speed change mechanism, 11-electromagnetic clutch, 12-magneto-rheological damper, 13-first microcontroller, 14-second microcontroller and 15-electronic control unit.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
The invention discloses a magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises a steering wheel, a steering wheel sensor, a steering column, a stepless speed change mechanism, an electromagnetic clutch, a magneto-rheological damper, a connecting column, a steer-by-wire motor, a steer-by-wire driving gear, a steer-by-wire driven gear, a steering rack, a first microcontroller, a second microcontroller and an electronic control unit, wherein the steering wheel is connected with the control unit;
one end of the steering column is rigidly connected with a rotating shaft of a steering wheel through a steering wheel sensor, and the other end of the steering column is connected with a driving wheel of the stepless speed change mechanism through an electromagnetic clutch; a driven wheel of the stepless speed change mechanism is coaxially and fixedly connected with the steering gear through the connecting column; the steering rack is arranged on the frame, and two ends of the steering rack are respectively connected with two driving wheels of the automobile through a tie rod, a trapezoidal arm, a steering knuckle in sequence; the steering gear is meshed with the steering rack; the magnetorheological damper is connected with the steering column through a spline; the drive-by-wire driven gear adopts a hollow gear and is sleeved on the output shaft and coaxially and fixedly connected with the output shaft; the output shaft of the steer-by-wire motor is coaxially and fixedly connected with the drive-by-wire gear, and the drive-by-wire gear is meshed with the driven-by-wire gear; the first microcontroller is used for controlling the magneto-rheological damper to provide road feel for the steering wheel, and the second microcontroller is used for controlling the steer-by-wire motor, the electromagnetic clutch and the stepless speed change mechanism;
the electronic control unit is electrically connected with the steering wheel sensor, the first microcontroller and the second microcontroller respectively and used for receiving the speed and yaw velocity signals of the automobile, combining the torque and rotating speed signals measured by the steering wheel sensor and controlling the work of the magneto-rheological damper, the wire control steering motor and the stepless speed change mechanism through the first microcontroller and the second microcontroller.
As shown in fig. 2, the invention also discloses a mechanical steering working method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, comprising the following steps:
the electronic control unit receives the speed and yaw rate signals of the automobile, and monitors whether the steer-by-wire device has fault and whether the residual energy of the automobile is insufficient in real time by combining the torque and rotating speed signals detected by the steering wheel sensor;
if the steer-by-wire device fails or the energy of the automobile is insufficient, the electronic control unit controls the electromagnetic clutch to be separated and jointed, controls the magnetorheological damper to enable the damping coefficient of the magnetorheological damper to be 0, and controls the stepless speed change mechanism to regulate and control the transmission ratio of the electric automobile through the second microcontroller;
the moment applied to the steering wheel by the driver is transmitted to the wheels so as to keep the steering function normal and wait for the electric automobile to be charged or to be overhauled after safety.
In the mode, the electromagnetic clutch is engaged, the damping coefficient xi of the magneto-rheological damper is 0, the steer-by-wire motor stops working, and a proper steering transmission ratio is selected according to the real-time running condition of the automobile under the action of the stepless speed change mechanism. When the steering operation is performed, the torque applied to the steering wheel by the driver is transmitted to the steering wheel through the steering column, the electromagnetic clutch, the stepless speed change mechanism, the rack, the steering tie rod, the trapezoidal arm and the knuckle in sequence, and the steering operation is completed. When the steering wheel is operated to return to the normal position, the steering wheel transmits the return torque to the steering wheel unit in turn through the mechanical structure.
The invention also discloses a steer-by-wire working method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises the following steps:
the electronic control unit receives the speed and yaw rate signals of the automobile, and monitors whether the steer-by-wire device has fault and whether the residual energy of the automobile is insufficient in real time by combining the torque and rotating speed signals detected by the steering wheel sensor;
if the steer-by-wire device is not in fault or the energy of the automobile is sufficient, the electronic control unit controls the electromagnetic clutch to separate when steering is carried out, and road feel feedback torque or steering torque is calculated; then the electronic control unit controls the steer-by-wire motor to drive the steering gear through the first microcontroller, and further drives a driving wheel of a steering automobile to complete steering operation; meanwhile, the electronic control unit controls the damping coefficient of the magnetorheological damper through a second microcontroller to generate resisting moment;
when the steering wheel is righted, the electronic control unit controls the electromagnetic clutch to be connected, power transmission between the steering wheel and the steering actuating mechanism is connected, the magnetorheological damper is controlled to enable the damping coefficient to be 0, and the righting moment of the steering wheel is generated by the action of the gravity of an automobile and the lateral force of wheels.
When the driver performs a steering operation, the electromagnetic clutch is disengaged, and power transmission between the steering wheel and the steering actuator is cut off. The road feel power of the steering wheel is derived from the magnetorheological damper and is transmitted to the steering wheel through the steering column, so that a driver can obtain road feel information. The first microcontroller controls the damping coefficient of the magnetorheological damper according to the following formula:
wherein T represents the torque applied by the driver; j. the design is a squareswRepresenting the steering wheel moment of inertia;
the rotating speed and the rotating angular acceleration of the steering wheel are measured; ξ represents the damping coefficient of the magnetorheological damper.
The power of the steering actuating mechanism comes from a steer-by-wire motor and is transmitted to wheels through a rack and other mechanisms to complete steering operation. The second microcontroller controls the steering-by-wire motor rotation angle according to the following formula:
Tmis the electromagnetic torque of a steering motor; j. the design is a squaremIs the rotational inertia of the steering motor; b ismIs the steering motor damping coefficient; thetamTurning the angle of a steering motor; k is a radical ofmEquivalent torsional stiffness for a steering actuation assembly; gmThe reduction ratio of the reducer of the steering motor is reduced; x is the number ofrIs the rack displacement; r ispIndexing the radius of the circle for the pinion; flzSteering resistance transmitted to the rack for the left wheel; frzSteering resistance transmitted to the rack for the right wheel; glThe length of the left front wheel steering rocker arm; grThe length of the right front wheel steering rocker arm;
front wheel rotational speed front wheel angular acceleration; j. the design is a squarefwThe moment of inertia of the front wheel; b isfwThe front wheel rotation damping coefficient; t isfThe internal friction torque of the system; t iszIs the front wheel aligning moment.
When a driver carries out aligning operation, the electromagnetic clutch is connected to connect power transmission between the steering wheel and the steering actuating mechanism, the damping coefficient xi of the magneto-rheological damper is 0, and the aligning moment of the steering wheel is generated by the action of the gravity of the automobile and the lateral force of wheels.
The invention also discloses an automatic driving method of the magneto-rheological damping road feel stepless speed change steer-by-wire device, which comprises the following steps:
the electronic control unit controls the electromagnetic clutch to separate, controls the damping coefficient of the magnetorheological damper to be infinite, and fixes the steering wheel; and meanwhile, the electronic control unit controls the steer-by-wire motor to work through the second microcontroller according to an external instruction of the automobile, so that steering operation is completed.
In this mode, the vehicle behaviour is fully controlled by the electronic control unit. In order to avoid decision interference between a driver and an electronic control unit, the electromagnetic clutch is separated, power transmission between the steering wheel unit and a steering wheel is cut off, the damping coefficient of the magnetorheological damper is infinite, and the steering wheel is fixed. After analyzing and processing various kinds of information, the electronic control unit transmits the decision information to the first microcontroller and the second microcontroller so as to control the automobile to turn. And, a specific control process of the steering actuator is the same as that of the steering actuator in the steer-by-wire mode.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN202110110064.7A CN112918548A (en) | 2021-01-27 | 2021-01-27 | Magnetorheological damping road feel stepless speed change steer-by-wire device and method |
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| CN114435466A (en) * | 2022-01-20 | 2022-05-06 | 河北工程大学 | Steer-by-wire system capable of realizing mode switching and control method thereof |
| CN114906215A (en) * | 2022-05-30 | 2022-08-16 | 中汽创智科技有限公司 | Steering wheel resistance control method and device, electronic equipment and storage medium |
| CN115871773A (en) * | 2022-12-26 | 2023-03-31 | 清华大学 | Drive-by-wire steering road feel simulation system with failure redundancy and control method thereof |
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| CN114435466B (en) * | 2022-01-20 | 2023-09-22 | 河北工程大学 | Drive-by-wire steering system capable of realizing mode switching and control method thereof |
| CN114906215A (en) * | 2022-05-30 | 2022-08-16 | 中汽创智科技有限公司 | Steering wheel resistance control method and device, electronic equipment and storage medium |
| CN114906215B (en) * | 2022-05-30 | 2024-04-19 | 中汽创智科技有限公司 | Steering wheel resistance control method, device, electronic device and storage medium |
| CN115871773A (en) * | 2022-12-26 | 2023-03-31 | 清华大学 | Drive-by-wire steering road feel simulation system with failure redundancy and control method thereof |
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