技术领域technical field
本发明涉及车辆工程技术领域，尤其是一种轿车的融合电动助力转向的主动转向系统。The invention relates to the technical field of vehicle engineering, in particular to an active steering system of a car integrated with electric power steering.
背景技术Background technique
目前，车辆上使用的转向系统，大部分是电控液压助力转向系统，少部分是电动助力转向系统。电控液压转向系统，液压管路结构复杂、体积大、成本高、不宜布置，而且存在液压油泄露问题，成为安全隐患。而电动助力转向系统，仅提供助力，转向特性却随车速、转向盘转角变化，驾驶性能不高。At present, most of the steering systems used on vehicles are electronically controlled hydraulic power steering systems, and a small part are electric power steering systems. In the electronically controlled hydraulic steering system, the hydraulic pipeline has a complex structure, large volume, high cost, and is not suitable for layout. Moreover, there is a problem of hydraulic oil leakage, which has become a safety hazard. However, the electric power steering system only provides power assistance, but the steering characteristics change with the vehicle speed and steering wheel angle, and the driving performance is not high.
申请号为200810026772.7的中国专利文件《汽车主动转向系统的主动转向传动装置》披露了几种机械和电动结合的转向系统，以解决单纯电动转向系统不安全的问题。但是上述专利文件中提供的几种方案不管是高速运行还是低速运行都是直速转向，驾驶性能不高。Application No. 200810026772.7 of the Chinese patent document "Active Steering Transmission Device of Automobile Active Steering System" discloses several mechanical and electric steering systems combined to solve the problem of unsafe electric steering systems. However, several schemes provided in the above-mentioned patent documents are straight-speed steering regardless of high-speed operation or low-speed operation, and the drivability is not high.
发明内容Contents of the invention
本发明的目的是提供一种融合电动助力转向的主动转向系统，用以解决现有电动助力转向系统无法在低速和高速状态调节转向特性的问题。The purpose of the present invention is to provide an active steering system integrated with electric power steering to solve the problem that the existing electric power steering system cannot adjust steering characteristics at low speed and high speed.
为实现上述目的，本发明的方案是：一种融合电动助力转向的主动转向系统，包括与转向盘传动连接的输入轴（20），与机械转向机构（6）传动连接的输出轴（21），输入轴（20）与输出轴（21）之间为双行星轮传动机构（3），双行星轮传动机构连接有受控的、电动的涡轮蜗杆机构，所述双行星轮传动机构包括第一行星排与第二行星排，第一行星架（32）连接所述输入轴（20），第一内齿圈（31）固定，第一行星排与第二行星排共用一个太阳轮（33），第二行星架（35）连接输出轴（21）；所述蜗轮蜗杆机构连接在第二内齿圈（34）的外廓上；所述融合电动助力转向的主动转向系统还包括一个状态切换机构，该状态切换机构包括一个设于第二内齿圈（34）与输出轴（21）之间，用于在低速换向时结合以使第二行星排同步转动、在高速换向时分离的离合器，以及一个用于接收车速信号，控制所述离合器的电子控制单元，该电子控制单元控制连接所述离合器。In order to achieve the above object, the solution of the present invention is: an active steering system that integrates electric power steering, including an input shaft (20) that is in transmission connection with the steering wheel, and an output shaft (21) that is in transmission connection with the mechanical steering mechanism (6). , between the input shaft (20) and the output shaft (21) is a double planetary gear transmission mechanism (3), the double planetary gear transmission mechanism is connected with a controlled, electric worm gear mechanism, and the double planetary gear transmission mechanism includes the first The first planetary row and the second planetary row, the first planetary carrier (32) is connected to the input shaft (20), the first ring gear (31) is fixed, and the first planetary row and the second planetary row share a sun gear (33 ), the second planetary carrier (35) is connected to the output shaft (21); the worm gear mechanism is connected to the outer profile of the second ring gear (34); the active steering system of fusion electric power steering also includes a state Switching mechanism, the state switching mechanism includes a set between the second ring gear (34) and the output shaft (21), which is used to combine to make the second planetary row rotate synchronously during low-speed commutation, and when high-speed commutation A disengaged clutch, and an electronic control unit for receiving a vehicle speed signal to control the clutch, and the electronic control unit controls to connect the clutch.
所述离合器为电磁离合器，由一个电磁线圈（5）及一个锁止件（4）构成。The clutch is an electromagnetic clutch, which is composed of an electromagnetic coil (5) and a locking piece (4).
所述电磁离合器为摩擦式电磁离合器，所述锁止件（4）为摩擦吸盘。The electromagnetic clutch is a friction electromagnetic clutch, and the locking member (4) is a friction sucker.
所述电磁离合器为插套式单向电磁离合器，所述锁止件（4）为轴套。The electromagnetic clutch is a sleeve-type one-way electromagnetic clutch, and the locking member (4) is a shaft sleeve.
所述电子控制单元（14）还采样连接安装在输入轴上的转矩传感器（1）和转角传感器（2），输出控制连接电动机（10），电动机（10）驱动所述蜗轮蜗杆机构（8、9）。The electronic control unit (14) is also sampled and connected to the torque sensor (1) and the rotation angle sensor (2) installed on the input shaft, the output control is connected to the motor (10), and the motor (10) drives the worm gear mechanism (8 ,9).
本发明首先提供了一种新型的双行星轮传动机构，两个行星排对称设置，第一行星架输入，第二行星架输出，共用太阳轮，第一内齿圈固定，第二内齿圈连接电动助力的驱动；然后在上述双行星轮传动机构上设置一个高低速转向时所用的状态切换机构，该状态切换机构根据车速高低，借助离合器对第二行星排的转动进行控制，本发明能够依据驾驶员指令和轿车的行驶工况，自动切换工作状态，使车辆实现低速转向轻便灵活，中高速转向简单稳定的转向特性。并且系统结构简单，操作非常方便。The present invention firstly provides a new type of double planetary gear transmission mechanism, two planetary rows are symmetrically arranged, the first planetary carrier is input, the second planetary carrier is output, the sun gear is shared, the first inner ring gear is fixed, and the second inner ring gear Connect the drive of the electric power assist; then set a state switching mechanism used in high and low speed steering on the above-mentioned double planetary gear transmission mechanism, the state switching mechanism controls the rotation of the second planetary row by means of the clutch according to the speed of the vehicle, the present invention can According to the driver's instruction and the driving conditions of the car, the working state is automatically switched, so that the vehicle can realize the steering characteristics of light and flexible steering at low speed, and simple and stable steering at medium and high speed. Moreover, the system structure is simple and the operation is very convenient.
附图说明Description of drawings
图1是本发明的转向系统结构图。Fig. 1 is a structural diagram of the steering system of the present invention.
具体实施方式detailed description
下面结合附图对本发明做进一步详细的说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1所示，一种融合电动助力转向的主动转向系统，包括与转向盘传动连接的输入轴20，与机械转向机构6传动连接的输出轴21，输入轴20与输出轴21之间为双行星轮传动机构3，双行星轮传动机构连接有受控的、电动的蜗轮蜗杆机构，双行星轮传动机构包括第一行星排与第二行星排，第一行星排的第一行星架连接输入轴20，第一行星排与第二行星排共用一个太阳轮33，第二行星排的第二行星架35连接输出轴21；第一行星排的第一内齿圈31固定，蜗轮蜗杆机构连接在第二行星排的第二内齿圈34的外廓上。所述融合电动助力的主动转向系统还包括一个状态切换机构，该状态切换机构包括一个设于输出轴21和第二内齿圈34之间的离合器，该离合器在低速换向时结合使整个第二行星排同步转动，在高速换向时分离，以及一个用于接收车速信号，控制离合器的电子控制单元14，电子控制单元控制连接离合器。As shown in FIG. 1 , an active steering system that integrates electric power steering includes an input shaft 20 that is drive-connected to the steering wheel, and an output shaft 21 that is drive-connected to the mechanical steering mechanism 6 . Between the input shaft 20 and the output shaft 21 is Double planetary gear transmission mechanism 3, the double planetary gear transmission mechanism is connected with a controlled, electric worm gear mechanism, the double planetary gear transmission mechanism includes the first planetary row and the second planetary row, the first planetary carrier of the first planetary row is connected The input shaft 20, the first planetary row and the second planetary row share a sun gear 33, the second planetary carrier 35 of the second planetary row is connected to the output shaft 21; the first ring gear 31 of the first planetary row is fixed, and the worm gear mechanism Connected to the outer profile of the second ring gear 34 of the second planetary row. The active steering system with fusion electric power assist also includes a state switching mechanism, which includes a clutch arranged between the output shaft 21 and the second ring gear 34, and the clutch is combined to make the entire second ring gear 34 The two planetary rows rotate synchronously, separate when changing direction at high speed, and an electronic control unit 14 for receiving vehicle speed signals and controlling the clutch, and the electronic control unit controls the connection of the clutch.
本实施例中，离合器采用电磁离合器，安装在输出轴上。电磁离合器由一个电磁线圈5及一个锁止件4构成，电磁线圈5控制锁止件4，锁止件4能够强制同步输出轴与第二内齿圈的运动，即在电磁离合器吸合时，使第二行星排称为一个整体，即第二内齿圈34、第二行星轮、第二行星架35、公共太阳轮33和输出轴21同步转动，在电磁离合器不吸合时，第二行星排照常运行。电磁离合器可以采用摩擦式离合器和插套式单向离合器，锁止件4为吸盘或轴套，也可以采用其它类型的离合器。电子控制单元14采集车辆转速信号11，输出控制连接电磁离合器。电子控制单元采样连接安装在输入轴上的转矩传感器1和转角传感器2，输出控制连接电动机10，电动机10驱动蜗轮蜗杆机构。图1中，8为蜗杆，9为联轴器。离合器也可以采用非电磁力驱动的离合器，如电动推杆驱动，液（气）压驱动的离合器。In this embodiment, the clutch adopts an electromagnetic clutch and is installed on the output shaft. The electromagnetic clutch is composed of an electromagnetic coil 5 and a locking member 4. The electromagnetic coil 5 controls the locking member 4. The locking member 4 can forcibly synchronize the movement of the output shaft and the second ring gear, that is, when the electromagnetic clutch is engaged, The second planetary row is called a whole, that is, the second ring gear 34, the second planetary gear, the second planetary carrier 35, the common sun gear 33 and the output shaft 21 rotate synchronously. When the electromagnetic clutch is not engaged, the second Planetary platoons continue to operate as usual. The electromagnetic clutch can adopt a friction clutch and a sleeve type one-way clutch, and the locking part 4 is a sucker or a shaft sleeve, and other types of clutches can also be used. The electronic control unit 14 collects the vehicle rotational speed signal 11 , outputs and controls the connection of the electromagnetic clutch. The electronic control unit samples and connects the torque sensor 1 and the rotation angle sensor 2 installed on the input shaft, and the output control is connected with the motor 10, and the motor 10 drives the worm gear mechanism. Among Fig. 1, 8 is a worm, and 9 is a coupling. The clutch can also be a clutch driven by non-electromagnetic force, such as an electric push rod drive, or a hydraulic (pneumatic) pressure-driven clutch.
本实施例中，离合器安装在输出轴21上，锁止件4同步输出轴21与内齿圈，即离合器直接对输出轴21与内齿圈进行离合，作为其他实施方式，也可以采用间接的离合方式，如锁止件同步输出轴21与第二行星轮/太阳轮，这样也能够使第二行星排同步转动，离合器实现了间接离合内齿圈与输出轴。另外，由于第二行星架连接输出轴，离合器也可以安装在行星架上。In this embodiment, the clutch is installed on the output shaft 21, and the locking member 4 synchronizes the output shaft 21 and the ring gear, that is, the clutch directly performs clutching on the output shaft 21 and the ring gear. As other embodiments, an indirect Clutch mode, such as the locking member synchronous output shaft 21 and the second planetary gear/sun gear, can also make the second planetary row rotate synchronously like this, and the clutch has realized the indirect clutch ring gear and the output shaft. In addition, since the second planet carrier is connected to the output shaft, the clutch can also be installed on the planet carrier.
电子控制单元控制电动机和状态切换机构，接收车速信号，传感器传递电子控制单元所需信号，电动机通过蜗轮蜗杆机构提供助力或助转角，双行星轮传动机构合成来自转向盘和电动机的力或运动。The electronic control unit controls the motor and the state switching mechanism, receives the vehicle speed signal, the sensor transmits the signal required by the electronic control unit, the motor provides power assist or angle assist through the worm gear mechanism, and the double planetary gear transmission synthesizes the force or motion from the steering wheel and the motor.
电磁离合器接受来自电子控制单元14的电磁离合器控制信号7，控制锁止件4，电动机10接受电子控制单元14的控制信号12，产生运动，通过联轴器9和蜗杆8，传递给双行星轮传动机构，实现助力或助转角。电子控制单元14接受来自车速传感器的车速信号12，转矩传感器1的转矩信号16，转角传感器2转角信号15和电动机的反馈信号13，产生控制信号12，控制电动机电流大小；产生控制信号7，控制电磁离合器的动作。The electromagnetic clutch receives the electromagnetic clutch control signal 7 from the electronic control unit 14 to control the locking member 4, and the motor 10 receives the control signal 12 from the electronic control unit 14 to generate motion, which is transmitted to the double planetary gear through the coupling 9 and the worm 8 The transmission mechanism realizes power assist or corner assist. The electronic control unit 14 receives the vehicle speed signal 12 from the vehicle speed sensor, the torque signal 16 of the torque sensor 1, the rotation angle signal 15 of the rotation angle sensor 2 and the feedback signal 13 of the motor, generates a control signal 12, and controls the magnitude of the motor current; generates a control signal 7 , to control the action of the electromagnetic clutch.
本发明的系统工作过程如下：System working process of the present invention is as follows:
当车辆低速，进行转向时，电子控制单元14控制电磁离合器工作，推动锁止件4，同步输出轴21与内齿圈的运动，这时双行星轮传动机构3为以行星架32和内齿圈34为输入（输入包括来自转向盘17的力与电动机10的转动），以第二行星架35为输出。电动机10在电子控制单元14的控制下产生助力，和经第一行星排减扭后的转向盘17力矩在第二行星排上合成为行星架35上的输出。第一内齿圈31固定，第一行星架32输入，第二行星架35输出，其传动比为1/1+i,其中i为第一内齿圈31和第一太阳轮33齿数比，所以转向系统传动比减小为仅机械转向系统传动比的1/1+i，实现了低速时轻便灵活的转向特性。车辆中高速，进行转向时，电子控制单元14控制电磁离合器使其不工作，电动机10在电子控制单元14的控制下产生助转角，和经第一行星排增速后的转向盘17转角在第二行星轮36上合成为行星架35的转角输出，通过机械转向机构6传递给轮胎，改变转向系统传动比，使得车辆质心的横摆角速度和转向盘转角的比值为定值，从而使得车辆在不同的中高车速下行驶时的转向特性不变，驾驶变得更为简单、易操纵，且能在危险工况下，主动改变前轮转角，改善车辆的稳定性。When the vehicle is turning at a low speed, the electronic control unit 14 controls the electromagnetic clutch to work, pushes the locking member 4, and synchronizes the movement of the output shaft 21 and the ring gear. The ring 34 is the input (the input includes the force from the steering wheel 17 and the rotation of the electric motor 10 ), and the second planet carrier 35 is the output. The electric motor 10 generates power assist under the control of the electronic control unit 14 , and the steering wheel 17 torque reduced by the first planetary row is synthesized on the second planetary row as an output on the planet carrier 35 . The first ring gear 31 is fixed, the first planet carrier 32 is input, and the second planet carrier 35 is output, and its transmission ratio is 1/1+i, where i is the gear ratio between the first ring gear 31 and the first sun gear 33, Therefore, the transmission ratio of the steering system is reduced to only 1/1+i of the transmission ratio of the mechanical steering system, realizing the light and flexible steering characteristics at low speeds. When the vehicle is turning at a medium or high speed, the electronic control unit 14 controls the electromagnetic clutch so that it does not work, and the electric motor 10 generates an auxiliary rotation angle under the control of the electronic control unit 14, and the steering wheel 17 rotation angle after the first planetary row speeds up is at the second The rotation angle output of the planet carrier 35 synthesized on the two planetary wheels 36 is transmitted to the tires through the mechanical steering mechanism 6, and the transmission ratio of the steering system is changed, so that the ratio of the yaw rate of the vehicle center of mass to the steering wheel angle is a constant value, so that the vehicle is running The steering characteristics remain unchanged when driving at different medium and high speeds, and the driving becomes simpler and easier to maneuver, and it can actively change the front wheel angle under dangerous conditions to improve the stability of the vehicle.
| Application Number | Priority Date | Filing Date | Title |
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| CN201310018682.4ACN103085863B (en) | 2013-01-18 | 2013-01-18 | The active front steering system of combined with electrical power-assisted steering |
| Application Number | Priority Date | Filing Date | Title |
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| CN201310018682.4ACN103085863B (en) | 2013-01-18 | 2013-01-18 | The active front steering system of combined with electrical power-assisted steering |
| Publication Number | Publication Date |
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| CN103085863A CN103085863A (en) | 2013-05-08 |
| CN103085863Btrue CN103085863B (en) | 2016-02-17 |
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| CN201310018682.4AExpired - Fee RelatedCN103085863B (en) | 2013-01-18 | 2013-01-18 | The active front steering system of combined with electrical power-assisted steering |
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