CN106741131A - Automobile steer-by-wire system - Google Patents
Automobile steer-by-wire system Download PDFInfo
- Publication number
- CN106741131A CN106741131A CN201611158278.7A CN201611158278A CN106741131A CN 106741131 A CN106741131 A CN 106741131A CN 201611158278 A CN201611158278 A CN 201611158278A CN 106741131 A CN106741131 A CN 106741131A
- Authority
- CN
- China
- Prior art keywords
- steering
- connecting shaft
- piston
- automobile
- ferromagnetic ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005294 ferromagnetic effect Effects 0.000 claims description 25
- 230000005389 magnetism Effects 0.000 claims description 14
- 230000005291 magnetic effect Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- 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
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/003—Backup systems, e.g. for manual steering
-
- 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
- B62D5/02—Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to an automobile steer-by-wire system, which comprises a piston, a steering system ECU, a corner sensor, a torque motor, a clutch controller, a pinion and a steering motor, wherein the piston is connected with the steering system ECU; one end of the piston is connected with the left pull rod, and the other end of the piston is connected with the steering motor; the steering angle sensor and the torque motor are respectively arranged on the steering column, and the lower end of the steering column is connected with the intermediate shaft; the middle shaft is connected with the clutch controller through a spline on the universal joint fork; the lower end of the clutch controller is provided with a pinion; and an input shaft of the steering motor is connected with the piston. The invention ensures that the system can still realize the most basic steering function after the electronic component fails by skillfully combining electric control and the traditional mechanical mode, thereby improving the reliability of the whole steering system; in addition, the invention also obtains a good balance between reliability and cost, and reduces the difficulty of market popularization.
Description
Technical field
The present invention relates to Automotive Steering Technology field, especially a kind of automobile steer-by-wire system.
Background technology
Wire-controlled steering system (Steering-by-Wire System, abbreviation SBW system) is used as the steering system of latest generation
System, compared with conventional steering system, with obvious technical advantage.Wire-controlled steering system is eliminated between steering wheel and deflecting roller
Mechanical connection, reduce the impact on road surface, reduce noise, injury of the steering column to driver when eliminating collision, increase
Driver's leg movements spaces, improve driving comfort.During Vehicular turn, traditional mechanical connection is no longer rely on, but
It is controlled by three groups of electronic control units (ECU), dynamics is rotated according to traveling road conditions and steering wheel, speed carries out comprehensive meter
Calculate, so as to command steering motor mechanism to realize turning to.
For the reliable and stable and safety issue of wire-controlled steering system, that wire-controlled steering system popularization is obstructed at present
Key factor is its integrity problem, the realization of loading machine wire-controlled steering system, it is necessary to solve following problem：
(1) at present, electronic unit is also not reaching to mechanical part reliable degree like that, how to ensure to go out in electronic unit
After existing failure,
System remains to realize the turning function that its is most basic, i.e., how to ensure reliable and stable, the safety of electric steering system
Work is highly important, and this is also electric steering system presently the most distinct issues；
(2) in order to ensure the driving safety of vehicle, as long as that is, vehicle should be ensured that steering energy in operation, all
Enough work；
The reliable and stable and safety issue of wire-controlled steering system, can be by smart design for traditional mechanical system
To realize the safety and reliability but wire-controlled steering system of system due to mechanical connection between steering wheel and steered wheel,
Fully rely on electronics and electric elements carry out work.At present, electronic unit is also not reaching to mechanical part reliable degree like that, such as
What ensures that after electronic unit breaks down system remains to realize how its most basic turning function ensures steering-by-wire
Reliable and stable, the trouble free service of system are highly important.This is also the key technology that wire-controlled steering system needs most solution.For
This problem is solved, external some motor corporations employ system redundancy, fault-toleranr technique and failure and return to tradition machinery
Three kinds of modes such as pattern solve the problems, such as reliability.For example in the line control system of Infiniti Q50, when any one ECU quilt
When monitoring there is a problem, standby mode will immediately pass through a clutch and be activated, and return to traditional machine driving and turn
To pattern, but this steering is still existed under extreme case as steering when vehicle is powered off can also reliably working
Problem.
In order to meet the reliability and security requirement of automobile, external some wire-controlled steering systems employ faults-tolerant control skill
Art, it is ensured that in the case where wire-controlled steering system fails, automobile remains to normally travel.System Fault Tolerance control design case method has hardware
Redundancy approach and the class of software redundancy method 2.Hardware redundancy method is mainly to be entered by important component and the easy part that breaks down
Row backup, to improve the fault freedom of system；Software redundancy method is mainly by designing controller software to improve whole system
The redundancy of system, so as to improve the fault freedom of system.The SBW systems of ZF companies exploitation are the reliability of guarantee system, sensing
Device, ECU, steering motor and power supply etc. are using double sets, in the case of the control function for not influenceing system, fault-tolerant control
Technology processed improves the reliability of wire-controlled steering system, it is ensured that the normally travel and security of vehicle.Work as wire-controlled steering system
After breaking down, system can automatically enable standby system and compensate.Although these modes can improve the reliability peace of system
Quan Xing, but this mode will improve wire-controlled steering system cost and increase its market-oriented difficulty.
The content of the invention
The technical problem to be solved in the present invention is：A kind of automobile steer-by-wire system is proposed, the system is preferably resolved
Current line control system has reliable and stable and safety issue, also alleviate to a certain extent Fault Tolerance Control Technology cost compared with
Height is difficult to the problem of the marketization.
The technical solution adopted in the present invention is：A kind of automobile steer-by-wire system, including piston, steering ECU, turn
Angle transducer, torque motor, clutch controller, little gear and steering motor；One end of described piston is connected with left lever, separately
One end is connected with steering motor；Described rotary angle transmitter and torque motor is respectively arranged on steering column, while steering tube
The lower end of post is connected with jackshaft；Described jackshaft is connected by the spline on universal-joint fork with clutch controller；Described
The lower end of clutch controller is provided with little gear；The input shaft of described steering motor is connected with piston.
Further, clutch controller of the present invention by upper connecting shaft, permanent magnetism ferromagnetic ring, electromagnetism ferromagnetic ring and under
Connecting shaft is constituted；Described permanent magnetism ferromagnetic ring is threadedly secured to by the lower end of upper connecting shaft；Described electromagnetism ferromagnetic ring is consolidated
It is scheduled on the upper end of lower connecting shaft；Described upper connecting shaft moves up and down in the presence of magnetic force along universal-joint fork inner chamber.
Further say, input shaft of the present invention is provided with output shaft steel ball loose slot, is also set on piston inner hole
There is the piston steel-ball groove matched with input shaft.
Further say, permanent magnetism ferromagnetic ring of the present invention is divided into four parts, its S grades and N grades of oblique angle direction pair
Claim；Described electromagnetism ferromagnetic ring is also divided into four parts, and its S grades also symmetrical with N grades of oblique angle direction.
When automobile of the present invention is in the extremity of not actuated or vehicle appearance power-off, upper connecting shaft is in gravity and permanent magnetism
In the presence of ferromagnetic ring magnetic force, the inner chamber of the top of lower connecting shaft and upper connecting shaft lower end is by together with spline connection.Automobile
After startup, the inner chamber of upper connecting shaft lower end disengages with the top of lower connecting shaft.
The beneficial effects of the invention are as follows：By way of the automatically controlled and ingenious combination of tradition machinery formula, it is ensured that in the ministry of electronics industry
After part breaks down, system remains to realize the turning function that its is most basic, improves the reliability of whole steering；In addition,
The present invention achieves a balance well also between reliability and cost, reduces the difficulty of its marketing.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is structural representation of the invention；
Fig. 2 is steering motor internal view；
Fig. 3 is clutch controller structural representation；
Fig. 4 is Fig. 3 A-A faces sectional view；
Fig. 5 is Fig. 3 B-B faces sectional view；
Fig. 6 is Fig. 3 C-C faces sectional view；
Fig. 7 is invention clutch controller operational mode state figure；
In figure：1- left levers；2- pistons；21- piston steel-ball grooves；3- steering ECU；4- rotary angle transmitters；5- directions
Disk；6- steering columns；7- torque motors；8- jackshafts；9- clutch controllers；91- universal-joint forks；The upper connecting shafts of 92-；93- is forever
Magnet magnet ring；94- electromagnetism ferromagnetic rings；Connecting shaft under 95-；10- little gears；The right pull bars of 11-；12- turns to casing body；13- is turned to
Motor；131- output shafts；1311- output shaft steel ball loose slots；14 dust covers；15- steel balls.
Specific embodiment
Presently in connection with accompanying drawing and preferred embodiment, the present invention is further detailed explanation.These accompanying drawings are simplified
Schematic diagram, only illustrates basic structure of the invention in a schematic way, therefore it only shows the composition relevant with the present invention.
Such as Fig. 1, shown in Fig. 2, Fig. 3 and Fig. 4, a kind of automobile steer-by-wire system, including piston 2, steering ECU3, turn
Angle transducer 4, torque motor 7, clutch controller 9, little gear 9 and steering motor 13, one end of piston 2 are connected with left lever 1, separately
One end is connected with steering motor 13, and the input shaft 131 of steering motor 13 is connected with piston 2, and input shaft 131 is provided with output shaft steel
Ball loose slot 1311, also is provided with the piston steel-ball groove 21 matched with input shaft 131 on the endoporus of piston 2；It is equipped with steering column 6
Rotary angle transmitter 4, while being connected with jackshaft 8 in its lower end, jackshaft 8 is by the spline and clutch for clutch control on universal-joint fork 91
Device 9 is connected, and upper connecting shaft 92 can move up and down in the presence of magnetic force along the inner chamber of universal-joint fork 91；Clutch controller 9 by
Upper connecting shaft 92, permanent magnetism ferromagnetic ring 93, electromagnetism ferromagnetic ring 94 and lower connecting shaft 95 are constituted, and permanent magnetism ferromagnetic ring 93 is threadably secured
By the lower end of upper connecting shaft 92, electromagnetism ferromagnetic ring 94 is fixed on the upper end of lower connecting shaft 95, and the lower end of clutch controller 9 is provided with small
Gear 10.
Such as Fig. 5, shown in Fig. 6, permanent magnetism ferromagnetic ring 93 is divided into four parts, and S grades symmetrical with N grades of oblique angle direction；Electromagnetism is ferromagnetic
Ring 94 is also divided into 4 parts.
The course of work to the device is illustrated below in conjunction with the accompanying drawings：
Wire-controlled steering system operation principle：When steering wheel 5 is rotated, the driving that steering wheel angle sensor 4 will be measured
Member turn to intention be transformed into data signal be input to steering controller ECU3, ECU3 to gather signal be analyzed treatment, sentence
The motion state of other automobile, is sent to steering motor 12 and orders, and control steering motor 12 is driven by left lever 1 and right pull bar 11
Knuckle arm on wheel, goes to the front wheel angle of requirement, and the steering for completing driver is intended to, and realizes the steering of wheel；Simultaneously
Control moment motor 7 is rotated, and produces the aligning torque of steering wheel 5, and corresponding road feel information is provided to driver.
As shown in figure 3, when automobile is in the extremity of not actuated or vehicle appearance power-off, as shown in fig. 7, when opening
Ignition switch, after automobile starting, upper connecting shaft 92 in the presence of gravity and the magnetic force of permanent magnetism ferromagnetic ring 93, the top of lower connecting shaft 95
Holding together with pass through spline connection with the inner chamber of the lower end of upper connecting shaft 92.Therefore, now steering reverts to mechanical steering
, there is the extreme situation of power-off for tackling parking or vehicle in system.
As shown in fig. 7, after opening ignition switch, automobile is in transport condition, now steering controller ECU3 output signals,
Electromagnetism ferromagnetic ring 94 is powered, and its electromagnet poles is identical with the corresponding magnetic pole of permanent magnetism ferromagnetic ring 93 respectively, and the same sex is repelled each other, in permanent magnet
Under the magneticaction of magnet ring 93, upper connecting shaft 92 drives permanent magnetism ferromagnetic ring 93 to be moved to the inner chamber for showing universal-joint fork 91, upper company
The inner chamber of the lower end of spindle 92 disengages with the top of lower connecting shaft 95, is now in steering-by-wire machine mode of operation.
Simply specific embodiment of the invention described in description above, various illustrations are not to reality of the invention
Matter Composition of contents is limited, and person of an ordinary skill in the technical field can be to described in the past specific after specification has been read
Implementation method is made an amendment or is deformed, without departing from the spirit and scope of the invention.
Claims (6)
1. a kind of automobile steer-by-wire system, it is characterised in that：Including piston (2), steering ECU (3), rotary angle transmitter
(4), torque motor (7), clutch controller (9), little gear (10) and steering motor (13)；One end of described piston (2) with
Left lever (1) is connected, and the other end is connected with steering motor (13)；Described rotary angle transmitter (4) and torque motor (7) sets respectively
It is placed on steering column (6), while the lower end of steering column (6) is connected with jackshaft (8)；Described jackshaft (8) is by ten thousand
It is connected with clutch controller (9) to the spline on section fork (91)；The lower end of described clutch controller (9) is provided with little gear
(10)；The input shaft (131) of described steering motor (13) is connected with piston (2).
2. automobile steer-by-wire system as claimed in claim 1, it is characterised in that：Described clutch controller (9) is by upper company
Spindle (92), permanent magnetism ferromagnetic ring (93), electromagnetism ferromagnetic ring (94) and lower connecting shaft (95) composition；Described permanent magnetism ferromagnetic ring (93)
It is threadedly secured to by the lower end of upper connecting shaft (92)；Described electromagnetism ferromagnetic ring (94) is fixed on the upper of lower connecting shaft (95)
End；Described upper connecting shaft (92) moves up and down in the presence of magnetic force along universal-joint fork (91) inner chamber.
3. automobile steer-by-wire system as claimed in claim 1, it is characterised in that：Described input shaft (131) is provided with defeated
Shaft steel ball loose slot (1311), also is provided with the piston steel-ball groove (21) matched with input shaft (131) on piston (2) endoporus.
4. automobile steer-by-wire system as claimed in claim 2, it is characterised in that：Described permanent magnetism ferromagnetic ring (93) is divided into
Four parts, its S grades symmetrical with N grades of oblique angle direction；Described electromagnetism ferromagnetic ring (94) is also divided into four parts, and its S grades and N grades tiltedly
Angular direction is also symmetrical.
5. automobile steer-by-wire system as claimed in claim 2, it is characterised in that：Automobile is in not actuated or vehicle to be occurred
During the extremity of power-off, upper connecting shaft (92) in the presence of gravity and permanent magnetism ferromagnetic ring (93) magnetic force, lower connecting shaft (95)
Top and upper connecting shaft (92) lower end inner chamber by together with spline connection.
6. automobile steer-by-wire system as claimed in claim 2, it is characterised in that：After automobile starting, under upper connecting shaft (92)
The inner chamber at end disengages with the top of lower connecting shaft (95).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158278.7A CN106741131A (en) | 2016-12-15 | 2016-12-15 | Automobile steer-by-wire system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611158278.7A CN106741131A (en) | 2016-12-15 | 2016-12-15 | Automobile steer-by-wire system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741131A true CN106741131A (en) | 2017-05-31 |
Family
ID=58888327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611158278.7A Pending CN106741131A (en) | 2016-12-15 | 2016-12-15 | Automobile steer-by-wire system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741131A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533007A (en) * | 2017-09-21 | 2019-03-29 | 操纵技术Ip控股公司 | Wire-controlled steering system diagnosis |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001301639A (en) * | 2000-04-24 | 2001-10-31 | Nissan Motor Co Ltd | Steering device for vehicle |
| CN103754256A (en) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | Steering-mode adjustable electric automobile steering system and control method |
| CN203612044U (en) * | 2013-12-02 | 2014-05-28 | 北京汽车股份有限公司 | Car rack assisted electric power steering system |
| CN105035157A (en) * | 2014-04-16 | 2015-11-11 | 株式会社万都 | Safety apparatus for steer-by-wire |
| CN205327155U (en) * | 2015-12-29 | 2016-06-22 | 中国第一汽车股份有限公司 | Electronic steering gear of circulation ball formula |
| CN106015386A (en) * | 2016-07-06 | 2016-10-12 | 洛阳天迈传动科技有限公司 | Clutch for electromobile |
| CN106428191A (en) * | 2016-11-23 | 2017-02-22 | 常州机电职业技术学院 | Automobile steer-by-wire system |
-
2016
- 2016-12-15 CN CN201611158278.7A patent/CN106741131A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001301639A (en) * | 2000-04-24 | 2001-10-31 | Nissan Motor Co Ltd | Steering device for vehicle |
| CN203612044U (en) * | 2013-12-02 | 2014-05-28 | 北京汽车股份有限公司 | Car rack assisted electric power steering system |
| CN103754256A (en) * | 2014-01-24 | 2014-04-30 | 中国石油大学(华东) | Steering-mode adjustable electric automobile steering system and control method |
| CN105035157A (en) * | 2014-04-16 | 2015-11-11 | 株式会社万都 | Safety apparatus for steer-by-wire |
| CN205327155U (en) * | 2015-12-29 | 2016-06-22 | 中国第一汽车股份有限公司 | Electronic steering gear of circulation ball formula |
| CN106015386A (en) * | 2016-07-06 | 2016-10-12 | 洛阳天迈传动科技有限公司 | Clutch for electromobile |
| CN106428191A (en) * | 2016-11-23 | 2017-02-22 | 常州机电职业技术学院 | Automobile steer-by-wire system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533007A (en) * | 2017-09-21 | 2019-03-29 | 操纵技术Ip控股公司 | Wire-controlled steering system diagnosis |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |