CN207328584U - A kind of car active front steering system based on accumulator - Google Patents
A kind of car active front steering system based on accumulator Download PDFInfo
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- CN207328584U CN207328584U CN201721295362.3U CN201721295362U CN207328584U CN 207328584 U CN207328584 U CN 207328584U CN 201721295362 U CN201721295362 U CN 201721295362U CN 207328584 U CN207328584 U CN 207328584U
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- 238000009434 installation Methods 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
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Abstract
The utility model discloses a kind of car active front steering system based on accumulator, including：Mechanical module, hydraulic module and electronic control module；Hydraulic module gives two hydraulic circuit fuel feeding using a motor and a hydraulic pump, first hydraulic circuit realizes that steering moment is adjusted using DFF Direct Fuel Feed mode, second hydraulic circuit realizes that corner is adjusted by the way of accumulator fuel feeding, and two hydraulic circuit cooperations complete active steering function.The system of the utility model is used as the second hydraulic circuit auxiliary power source by accumulator, alleviates mass of system, while avoids using energy dissipation caused by multiple hydraulic pumps.
Description
Technical field
The utility model belongs to automobile power steering system control technology field, refers specifically to for a kind of visitor based on accumulator
Car active front steering system.
Background technology
As automobile increasingly improves safety, energy saving requirement, automobile steering system is also in constantly change.Traditional
Mechanical steering system and hydraulic booster system can not meet today's society demand, Electro-Hydraulic Power Steering System, electronic
Servo steering system, active front steering system and wire-controlled steering system gradually develop and are applied.Wherein active front steering system and
Wire-controlled steering system, can freely change angular gear ratio so as to overcome steering " light " and the contradiction of " spirit ", possess optimal behaviour
Vertical sense and security performance, are following developing direction.
Steering-by-wire eliminates steering mechanical connection, and not only saving space also has good steering characteristic, but
Due to ebctronic reliability problem, current regulation is limited to without being applied.The external research on active front steering system rises
Step is more early, and Japanese Toyota Company VGRS systems control wheel steering angle, German Benz Co. by the actuator in turning machine assembly
Variable ratio rack is used on E grades of cars, German Bayerische Motorne Werke Aktiengeellschaft passes through two groups of input shafts of planetary gears and electric-control system knot
Close and change steering gearratio.The defects of Purely mechanical variable ratio is that adjustable extent is small, changes underaction；And automatically controlled machine
Tool formula variable ratio output torque is smaller, is not suitable for applying in heavy goods vehicles.
Chinese invention patent application number is CN201610989595.7, a kind of entitled " mixed type front-wheel active steering system
The mixed drive unit that system " proposes can carry out torque and the control of corner, but the structure uses motor power-assisted mode, power compared with
It is small, it can not be used on car at present.
Therefore, design structure is simple, practical function, the car active front steering system of energy-saving and emission-reduction, improves car and actively pacifies
Full performance, has a very big significance and is worth.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of this utility model is to provide a kind of car based on accumulator
Active front steering system, to overcome technological deficiency existing for steering control system in the prior art.The utility model passes through accumulator
As the second hydraulic circuit auxiliary power source, mass of system is alleviated, while is avoided using energy caused by multiple hydraulic pumps
Waste.
To reach above-mentioned purpose, the technical solution adopted in the utility model is as follows：
A kind of car active front steering system based on accumulator of the utility model, including：Mechanical module, hydraulic module with
And electronic control module；
The mechanical module includes sequentially connected steering wheel, steering spindle, ball-and-nut steering gear, pitman arm, steering directly
Pull rod, steering trapezium and wheel；
The ball-and-nut steering gear includes ball-and-nut steering gear housing, steering nut, steering screw, tooth fan；Circulating ball turns
Oil inlet and oil outlet are respectively equipped with before and after to device housing, steering nut is assemblied in ball-and-nut steering gear housing and axially transports
Dynamic, steering nut forms hydraulic cylinder-piston structure as piston with ball-and-nut steering gear housing；The connection of steering screw front end turns
To axis, steering screw rear end connection steering nut, is steering nut relative cycle the convert rotational motion that steering spindle transmission comes
The axial movement of ball steering gear housing；Tooth is fanned one end and is engaged with steering nut, the other end as ball-and-nut steering gear output terminal with
Pitman arm is connected；
The steering drag link includes steering drag link piston, steering drag link hydraulic cylinder, steering drag link piston rod, drawing
Bar；The shell of steering drag link hydraulic cylinder is connected by pitman arm with ball-and-nut steering gear output terminal, offered on shell into
Hydraulic fluid port and oil outlet；Steering drag link piston is assemblied in above-mentioned steering drag link hydraulic cylinder, and one end, which is fixedly mounted, turns to vertical pulling
Bar piston rod；Pull rod front end connects above-mentioned steering drag link piston rod, rear end connection steering trapezium and wheel；
The hydraulic module includes oil storage tank, oil filter, brshless DC motor, hydraulic pump, the first check valve, the first hydraulic pressure
Circuit and the second hydraulic circuit；
First hydraulic circuit includes the first solenoid valve, rotary valve, the first oil inlet pipe, the first oil return line；
First electromagnetic valve entrance is connected with first one-way valved outlet, and outlet is connected with rotary valve entrance；
The rotary valve is installed in the steering spindle of the mechanical steering module, and rotary valve spool both ends are respectively with steering spindle and following
The steering screw connection of global steering gear, is allocated the high pressure oil of the first solenoid valve input when spool position changes, and lead to
The first oil inlet pipe and the first oil return line is crossed with the oil inlet and oil outlet of the ball-and-nut steering gear to be connected；
Second hydraulic circuit includes the second check valve, second solenoid valve, accumulator, electro-hydraulic proportion reversing valve, second
Oil inlet pipe, the second oil return line, overflow valve；
The second solenoid valve entrance connects first check valve, in parallel with the first solenoid valve；It, which is exported, passes through second
The oil inlet of check valve and accumulator connects；
The oil outlet of the accumulator exports hydraulic oil to electro-hydraulic proportion reversing valve, oil outlet installation pressure sensor；
The electro-hydraulic proportion reversing valve passes through the second oil inlet pipe and turn of the second oil return line and the steering drag link
Communicated to the oil inlet and oil outlet of Drag link hydraulic cylinder；
The oil inlet of the overflow valve is in parallel with second solenoid valve, oil return opening connection oil storage tank；
Low pressure oil in oil storage tank is converted into height by hydraulic pump under brshless DC motor driving after oil filter filters
Pressure oil, exports to the first hydraulic circuit and the second hydraulic circuit respectively through the first check valve；
The electronic control module include master controller, rotary angle transmitter, torque sensor, pressure sensor, displacement sensor,
Wheel speed sensors；
The master controller includes ECU, preferable front wheel angle module, preferable power torque module, pressure control module, position
Move control module；
The rotary angle transmitter installation on the steering wheel, and is electrically connected preferable front wheel angle module；
The torque sensor is installed in steering spindle, and is electrically connected preferable power torque module and ECU；
The pressure sensor is installed on accumulator outlet port in the second hydraulic circuit, and is electrically connected pressure control mould
Block；
Institute's displacement sensors are installed on pull rod, and are electrically connected Bit andits control module；
The wheel speed sensors are installed on wheel, and are electrically connected preferable power torque module and preferable front wheel angle mould
Block.
Preferably, first solenoid valve uses the normally opened form of bi-bit bi-pass.
Preferably, the second solenoid valve uses the normally closed form of bi-bit bi-pass.
Preferably, the electro-hydraulic proportion reversing valve uses 3-position 4-way form.
The beneficial effects of the utility model：
Tthe utility model system can complete active steering function by two hydraulic circuit cooperations, make driver at the same time
Possess good driving road feel and ease of steering, stability and security when enhancing motor bus is run at high speed, reduce accident
Occur.Two hydraulic circuits share a motor and hydraulic pump, reduce the energy loss caused by less efficient, mitigate at the same time
Mass of system and occupied space.
Brief description of the drawings
Fig. 1 is the utility model active front steering system structure diagram；
Fig. 2 is the functional block diagram of the utility model active front steering system structure；
In figure：1- steering wheels, 2- rotary angle transmitters, 3- torque sensors, 4- steering spindles, 5- rotary valves, the first oil inlet pipes of 6-
Road, the first oil return lines of 7-, 8- steering screws, 9- steering nuts, 10- ball-and-nut steering gear housings, 11- teeth fan, 12- are turned to and shaken
Arm, 13- steering drag link pistons, 14- steering drag link hydraulic cylinders, 15 steering drag link piston rods, 16- displacement sensors, 17-
Second oil inlet pipe, 18 pull rods, 19 second oil return lines, 20- steering trapeziums, 21- wheels, 22- wheel speed sensors, 23- are electro-hydraulic
Proportional reversing valve, 24- overflow valves, 25- second solenoid valves, 26 pressure sensors, 27- accumulators, the second check valves of 28-, 29- master
Controller, 30- oil storage tanks, 31- hydraulic pumps, 32- brshless DC motors, the first check valves of 33-, the first solenoid valves of 34-, 35- filters
Oily device, 36- pressure control modules, 37- Bit andits control modules, 38- ideal front wheel angle modules, 39- ideal power torque modules,
40- ball-and-nut steering gears, 41- steering drag links, the first hydraulic circuits of 42-, the second hydraulic circuits of 43-, 44-ECU, a- torques letter
Number, b- steering wheel angle signals, c- wheel speed signals, d- displacement signals, e- pressure signals, f- brushless dc machine control signals,
The first solenoid valve control signals of g-, h- second solenoid valve control signals, i- electro-hydraulic proportion reversing valve control signals.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and attached drawing further
Explanation, the content that embodiment refers to not is restriction to the utility model.
With reference to shown in Fig. 1, Fig. 2, a kind of car active front steering system based on accumulator of the utility model, including：Machine
Tool module, hydraulic module and electronic control module；
The mechanical module include sequentially connected steering wheel 1, steering spindle 4, ball-and-nut steering gear 40, pitman arm 12,
Steering drag link 41, steering trapezium 20 and wheel 21；
The ball-and-nut steering gear 40 includes ball-and-nut steering gear housing 10, steering nut 9, steering screw 8, tooth fan 11；
Oil inlet and oil outlet are respectively equipped with before and after ball-and-nut steering gear housing 10, steering nut 9 is assemblied in ball-and-nut steering gear housing
In 10 and it is axially moved, steering nut 9 is used as piston, and hydraulic cylinder-piston structure is formed with ball-and-nut steering gear housing 10；Turn to
8 front end of screw rod connects steering spindle 4, and 8 rear end of steering screw connection steering nut 9, transmits steering spindle 4 convert rotational motion come
For the axial movement of 9 relative cycle ball steering gear housing 10 of steering nut；Tooth is fanned 11 one end and is engaged with steering nut 9, the other end
It is connected as ball-and-nut steering gear output terminal with pitman arm 12；
The steering drag link 41 includes steering drag link piston 13, steering drag link hydraulic cylinder 14, steering drag link and lives
Stopper rod 15, pull rod 18；The shell of steering drag link hydraulic cylinder 14 is connected by pitman arm 12 with ball-and-nut steering gear output terminal,
Oil inlet and oil outlet are offered on shell；Steering drag link piston 13 is assemblied in above-mentioned steering drag link hydraulic cylinder 14, and one
Steering drag link piston rod 15 is fixedly mounted in end；18 front end of pull rod connects above-mentioned steering drag link piston rod 15, and rear end connection turns
To trapezoidal 20 and wheel 21；
The hydraulic module includes oil storage tank 30, oil filter 35, brshless DC motor 32, hydraulic pump 31, the first check valve
33rd, the first hydraulic circuit 42 and the second hydraulic circuit 43；
First hydraulic circuit 42 includes the first solenoid valve 34, rotary valve 5, the first oil inlet pipe 6, the first oil return line 7；
First solenoid valve 34 uses the normally opened form of bi-bit bi-pass, its entrance exports phase with first check valve 33
Even, outlet is connected with 5 entrance of rotary valve；
The rotary valve 5 be installed on the mechanical steering module steering spindle 4 on, 5 spool both ends of rotary valve respectively with steering spindle 4
Connect with the steering screw 8 of ball-and-nut steering gear, the high pressure oil of the first solenoid valve 34 input is divided when spool position changes
Match somebody with somebody, and be connected by the first oil inlet pipe 6 and the first oil return line 7 with the oil inlet and oil outlet of the ball-and-nut steering gear；
Second hydraulic circuit 43 includes the second check valve 28, second solenoid valve 25, accumulator 27, electric-hydraulic proportion commutation
Valve 23, the second oil inlet pipe 17, the second oil return line 19, overflow valve 24；
The second solenoid valve 25 uses the normally closed form of bi-bit bi-pass, its entrance connects first check valve 33, with the
One solenoid valve 34 is in parallel；Its outlet is connected by the second check valve 28 with the oil inlet of accumulator 27；
The oil outlet of the accumulator 27 exports hydraulic oil to electro-hydraulic proportion reversing valve 23, oil outlet installation pressure sensing
Device 26；
The electro-hydraulic proportion reversing valve 23 uses 3-position 4-way form, it passes through the second oil inlet pipe 17 and the second oil return pipe
Road 19 is communicated with the oil inlet and oil outlet of the steering drag link hydraulic cylinder 14 of the steering drag link 41；
The oil inlet of the overflow valve 24 is in parallel with second solenoid valve 25, oil return opening connection oil storage tank 30；
Hydraulic pump 31 is under the driving of brshless DC motor 32, by the low pressure oil in oil storage tank 30 after oil filter 35 filters
High pressure oil is converted into, is exported respectively to the first hydraulic circuit 42 and the second hydraulic circuit 43 through the first check valve 33；
The electronic control module includes master controller 29, rotary angle transmitter 2, torque sensor 3, pressure sensor 26, displacement
Sensor 16, wheel speed sensors 22；
The master controller 29 includes ECU44, preferable front wheel angle module 38, preferable power torque module 39, pressure control
Molding block 36, Bit andits control module 37；
The rotary angle transmitter 2 is installed on steering wheel 1, is electrically connected preferable front wheel angle module 38 and is provided driver
The steering wheel angle signal b of input；
The torque sensor 3 is installed in steering spindle 4, is electrically connected preferable power torque module 39 and ECU44 and is carried
For the dtc signal a of driver's input；
The pressure sensor 26 is installed on 27 outlet port of accumulator in the second hydraulic circuit, electrical connection pressure control
Module 36 simultaneously provides accumulator outlet oil liquid pressure signal e；
Institute's displacement sensors 16 are installed on pull rod 18, and electrical connection Bit andits control module 37 simultaneously provides pull rod 18 displacement
Signal d；
The wheel speed sensors 22 are installed on wheel 21, are electrically connected rotation before preferable power torque module 39 and ideal
Corner Block List Representation 38 simultaneously provides wheel speed signal c.
Wherein, the control method of second hydraulic circuit change steering gearratio, including step are as follows：
11) pressure process：Default accumulator minimum operating pressure P0, full of pressure P1, when accumulator outlet oil pressure is less than in advance
If minimum operating pressure P0When, pressure signal e passes to ECU, and ECU controls the first electromagnetic valve work position to be moved to closing, controls
Second solenoid valve operating position processed is moved to unlatching；Pressure control module uses PID control, is controlled and believed according to brshless DC motor
Number f and pressure signal e, the second hydraulic circuit of control enter pressurized operation pattern, and brshless DC motor drives hydraulic pump works, liquid
Press pump output flow is converted to second solenoid valve output flow by second solenoid valve, pressurizes to accumulator；
12) pressure maintaining period：Pressure P is full of when accumulator outlet oil pressure reaches default1When, ECU receives pressure signal e, control
Make the first electromagnetic valve work position and be moved to unlatching, second solenoid valve operating position is moved to closing, and energy storage pressure is maintained at
P0To P1Between, pressure control module controls the second hydraulic circuit to enter pressurize operating mode；
13) course of work：When car turns to, preferable front wheel angle module is according to wheel speed signal c and the side of driver's input
To disk angular signal b, calculate preferable front wheel angle size and be converted into corresponding steering drag link ideal output displacement, displacement
Control module receives electro-hydraulic proportion reversing valve control signal i and the displacement signal d of displacement sensor feedback, and control electric-hydraulic proportion is changed
Corresponding operating position is moved to valve, accumulator output flow flows into electro-hydraulic proportion reversing valve, electro-hydraulic proportion reversing valve output stream
Amount flows into steering drag link hydraulic cylinder, promotes steering drag link piston to be moved with respect to steering drag link hydraulic cylinder, and drive
Pull rod moves, and changes steering drag link output displacement and corresponding front wheel angle；
Assuming that steering drag link ideal output displacement is x0, the steering drag link output displacement that displacement sensor detects is
x1, according to electro-hydraulic proportion reversing valve, continuously change uninterrupted exports Bit andits control module so as to change steering drag link in proportion
The characteristic of displacement, using sliding-mode control, according to output displacement x1With preferable output displacement x0Difference DELTA x, calculate corresponding sliding
Mould control parameter.
Where it is assumed that the gearratio of steering is i, front wheel angle δf, wheel steering δ, then
Ideal steering ratioWherein, V is wheel speed, KuFor understeer coefficient, KSFor preferable front wheel angle
Module setup parameter, scope are 0.12-0.41 (1/s)；
According to ideal steering ratio i0, the preferable front wheel angle characteristic under different speeds is obtained, is obtained according to rotary angle transmitter
Angular signal, preferable front wheel angle module calculates preferable front wheel angle, further according to steering drag link and steering trapezium and car
The movement relation of wheel, calculates preferable steering drag link output displacement.
Wherein, the sliding-mode control is specific as follows：
131) switching function for defining sliding mode controller is：S=c (x1-x0), in formula, c is a constant；
132) by switching function, obtain：
133) exponentially approaching rule is chosenε ＞ 0, k ＞ 0, whereinIt is exponential approach item, its solution is
S=s (0) e-kt, constant ε is the speed of system motion point convergence diverter surface s=0；
134) make：Wherein V is wheel speed, and δ is steering wheel angle；
135) summary obtains：
The utility model concrete application approach is very much, and the above is only the preferred embodiment of the utility model, should
Point out, for those skilled in the art, on the premise of the utility model principle is not departed from, can also make
Go out some improvement, these improvement also should be regarded as the scope of protection of the utility model.
Claims (4)
- A kind of 1. car active front steering system based on accumulator, it is characterised in that including：Mechanical module, hydraulic module and Electronic control module；The mechanical module include sequentially connected steering wheel, steering spindle, ball-and-nut steering gear, pitman arm, steering drag link, Steering trapezium and wheel；The ball-and-nut steering gear includes ball-and-nut steering gear housing, steering nut, steering screw, tooth fan；Ball-and-nut steering gear Oil inlet and oil outlet are respectively equipped with before and after housing, steering nut is assemblied in ball-and-nut steering gear housing and is axially moved, and turns To nut as piston, hydraulic cylinder-piston structure is formed with ball-and-nut steering gear housing；Steering screw front end connects steering spindle, Steering screw rear end connects steering nut, and the convert rotational motion that steering spindle transmission is come turns to for steering nut relative cycle ball The axial movement of device housing；Tooth is fanned one end and is engaged with steering nut, and the other end shakes as ball-and-nut steering gear output terminal with steering Arm is connected；The steering drag link includes steering drag link piston, steering drag link hydraulic cylinder, steering drag link piston rod, pull rod； The shell of steering drag link hydraulic cylinder is connected by pitman arm with ball-and-nut steering gear output terminal, and oil inlet is offered on shell And oil outlet；Steering drag link piston is assemblied in above-mentioned steering drag link hydraulic cylinder, and one end is fixedly mounted steering drag link and lives Stopper rod；Pull rod front end connects above-mentioned steering drag link piston rod, rear end connection steering trapezium and wheel；The hydraulic module includes oil storage tank, oil filter, brshless DC motor, hydraulic pump, the first check valve, the first hydraulic circuit With the second hydraulic circuit；First hydraulic circuit includes the first solenoid valve, rotary valve, the first oil inlet pipe, the first oil return line；First electromagnetic valve entrance is connected with first one-way valved outlet, and outlet is connected with rotary valve entrance；The rotary valve be installed on the mechanical steering module steering spindle on, rotary valve spool both ends respectively with steering spindle and circulating ball The steering screw connection of steering gear, is allocated the high pressure oil of the first solenoid valve input when spool position changes, and pass through the One oil inlet pipe and the first oil return line are connected with the oil inlet and oil outlet of the ball-and-nut steering gear；Second hydraulic circuit includes the second check valve, second solenoid valve, accumulator, electro-hydraulic proportion reversing valve, the second oil inlet Pipeline, the second oil return line, overflow valve；The second solenoid valve entrance connects first check valve, in parallel with the first solenoid valve；It exports unidirectional by second The oil inlet of valve and accumulator connects；The oil outlet of the accumulator exports hydraulic oil to electro-hydraulic proportion reversing valve, oil outlet installation pressure sensor；The electro-hydraulic proportion reversing valve is straight by the steering of the second oil inlet pipe and the second oil return line and the steering drag link The oil inlet and oil outlet of pull rod hydraulic cylinder communicate；The oil inlet of the overflow valve is in parallel with second solenoid valve, oil return opening connection oil storage tank；Low pressure oil in oil storage tank is converted into high pressure by hydraulic pump under brshless DC motor driving after oil filter filters Oil, exports to the first hydraulic circuit and the second hydraulic circuit respectively through the first check valve；The electronic control module includes master controller, rotary angle transmitter, torque sensor, pressure sensor, displacement sensor, wheel speed Sensor；The master controller includes ECU, preferable front wheel angle module, preferable power torque module, pressure control module, displacement control Molding block；The rotary angle transmitter installation on the steering wheel, and is electrically connected preferable front wheel angle module；The torque sensor is installed in steering spindle, and is electrically connected preferable power torque module and ECU；The pressure sensor is installed on accumulator outlet port in the second hydraulic circuit, and is electrically connected pressure control module；Institute's displacement sensors are installed on pull rod, and are electrically connected Bit andits control module；The wheel speed sensors are installed on wheel, and are electrically connected preferable power torque module and preferable front wheel angle module.
- 2. the car active front steering system according to claim 1 based on accumulator, it is characterised in that first electricity Magnet valve uses the normally opened form of bi-bit bi-pass.
- 3. the car active front steering system according to claim 1 based on accumulator, it is characterised in that second electricity Magnet valve uses the normally closed form of bi-bit bi-pass.
- 4. the car active front steering system according to claim 1 based on accumulator, it is characterised in that the electro-hydraulic ratio Example reversal valve uses 3-position 4-way form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721295362.3U CN207328584U (en) | 2017-10-09 | 2017-10-09 | A kind of car active front steering system based on accumulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721295362.3U CN207328584U (en) | 2017-10-09 | 2017-10-09 | A kind of car active front steering system based on accumulator |
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| Publication Number | Publication Date |
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| CN207328584U true CN207328584U (en) | 2018-05-08 |
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| CN201721295362.3U Active CN207328584U (en) | 2017-10-09 | 2017-10-09 | A kind of car active front steering system based on accumulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466628A (en) * | 2018-11-22 | 2019-03-15 | 中车株洲电力机车有限公司 | A kind of more piece marshalling vehicle |
-
2017
- 2017-10-09 CN CN201721295362.3U patent/CN207328584U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466628A (en) * | 2018-11-22 | 2019-03-15 | 中车株洲电力机车有限公司 | A kind of more piece marshalling vehicle |
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