3381results about "Electrical steering" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The invention relates to the technical field of automobile electric control, in particular to a new energy automobile electric control steering control method and system, and the method comprises the steps: obtaining and preprocessing a four-wheel vibration data sequence, carrying out the segmentation and consistency evaluation of the vibration data sequence of each wheel, and selecting a current data sequence in an optimal segment to calculate a road condition influence coefficient. And matching the current data sequence with the historical vibration data sequence, calculating the similarity to determine the influence weight, adjusting the influence coefficient in combination with the steering angle change rate of the historical vibration data sequence, inputting the adjusted pavement condition influence coefficient into the ECU, dynamically adjusting the steering auxiliary torque, and realizing accurate steering control. According to the method, the optimal segment is selected through segment processing and consistency evaluation to accurately reflect the current road condition, the steering auxiliary torque is dynamically adjusted in combination with historical vibration data sequence matching and the steering angle change rate, and the driving safety and comfort are improved.

The invention discloses a light passenger car chassis steering stability self-adaptive control method, which comprises the following steps of: collecting multi-dimensional working condition parameters in real time, and covering 12 types of key parameters such as a steering wheel rotating angle and a wheel speed; after preprocessing and abnormity diagnosis, double models are adopted to estimate the dynamic state of the vehicle in parallel; dynamically setting a control target, and realizing personalized control in combination with driver style recognition; the control quantity is optimized through multi-mode strategy dynamic switching and steering and braking system cooperative control; and actuator dynamic compensation, scenarized self-learning and multi-stage fault handling mechanisms are introduced. According to the method, the complex working condition adaptability is improved, the response speed is controlled, the subsystem cooperation efficiency is improved, the system robustness and the long-term use performance are enhanced, and the driving safety of the light bus is effectively guaranteed.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The invention relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The utility model belongs to the technical field of quality inspection and inspection, and discloses a chassis and a functional vehicle. The chassis is used for being connected with a vehicle body and comprises a chassis frame, a steering shaft, a first driving shaft, a first transmission mechanism and a motor, a steering wheel is installed on the steering shaft, the steering shaft is perpendicularly and rotatably connected to the chassis frame, the first driving shaft is rotatably installed on the chassis frame, and a first driving wheel is installed on the first driving shaft; the first driving shaft extends in the left-right direction of the vehicle body, the motor is in transmission connection with the first driving shaft, and the first transmission mechanism is in transmission connection with the first driving shaft and the steering shaft at the same time. The motor of the chassis can provide power for the first driving shaft and the steering shaft at the same time, steering and forward driving during steering are achieved, the structure is simple, and the production cost is low.

The invention discloses a four-wheel drive lifting type agricultural universal chassis with an adjustable wheel tread. The four-wheel drive lifting type agricultural universal chassis comprises a frame and four groups of leg-wheel assemblies, the vehicle leg-wheel assembly comprises a vehicle leg assembly, the vehicle leg assembly comprises a vehicle leg support and a wheel assembly, and a lifting adjusting mechanism is arranged between the vehicle leg support and a wheel; the vehicle leg support is in running fit with the vehicle frame through a fixed shaft, wheel track adjusting driving mechanisms are arranged on the vehicle frame in one-to-one correspondence with the vehicle leg assemblies, and the wheel track adjusting driving mechanisms are used for adjusting the wheel track between the wheel assemblies; the lifting adjusting mechanism comprises an electric cylinder and a sliding square tube guide structure, the sliding square tube guide structure comprises an outer square tube fixedly connected to the vehicle leg support and an inner square tube capable of sliding in the outer square tube, one end of the electric cylinder is connected with the vehicle leg support, and the other end of the electric cylinder is connected with a welding plate integrally welded with the inner square tube; a steering execution mechanism is arranged in the inner square tube; the wheel assembly comprises a wheel support and wheels installed on the wheel support, and hub motors are integrated in the wheels to achieve four-wheel independent driving.

A vehicle steering assist device includes a steering assist ECU. The steering assist ECU calculates a target steering angle for driving the vehicle along the road, and a target steering guide torque that guides the driver's steering so that the actual steering angle becomes the target steering angle. The steering assist ECU controls the torque applying device so that the steering guide torque becomes the target steering guide torque. The steering assist ECU acquires at least one of information on the driving environment of the vehicle and information on the state of the driver, and calculates an index value indicating the necessity of the steering guide torque based on at least one of the pieces of information. The steering assist ECU corrects the target steering guide torque based on the index value so that the higher the need for the steering guide torque, the larger the target steering guide torque.

Disclosed examples include setting a coupling resistance between a road wheel actuator and a steerable road wheel of a vehicle at a first time by controlling an electrical damping device to increase an electrical resistance of an electric motor of the road wheel actuator; and changing the coupling resistance between the road wheel actuator and the steerable road wheel at a second time by controlling the electrical damping device to further increase the electrical resistance of the electric motor of the road wheel actuator.

When an external detection device detects an obstacle (another vehicle (T)) on either a left or right side of the own vehicle (M), a control device of a steering assistance device for a saddle type vehicle controls an assist torque so that a handle operation to the side opposite to the side on which the obstacle is detected becomes heavier (more difficult to turn) than a case in which the obstacle is not detected. The handle operation to the side on which the obstacle is detected makes a handle relatively light (makes it easier to turn) while steering assist is maintained.

The application provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: redundancy design is performed for a steer-by-wire system of a vehicle, in the case that it is determined that the steer-by-wire system fails, a fault handling mechanism is triggered immediately, a fault condition is located first, then the fault is classified into a fault level based on the fault condition, and then the steering control strategy of the steer-by-wire system for the vehicle is adjusted according to the fault level and the vehicle is speed-limited according to the fault level, so that when the steer-by-wire system fails, the steer-by-wire system executes the steering control strategy corresponding to the fault level, the user can still control the vehicle, the situation that the vehicle is out of control is avoided, the controllability, safety and reliability of the steer-by-wire system in the case of failure are improved, and the driving experience, driving confidence and trust of the user for the steer-by-wire system are improved.

The invention provides an electric power steering active return control method and system, and belongs to the field of electric power steering systems.The electric power steering active return control method comprises the steps that in the rotating process of a vehicle steering wheel, zone control is conducted with the steering wheel rotating angle as the benchmark, and original request torque is obtained; estimating the inertia moment of the steering wheel in the steering wheel aligning process; and calculating the original request torque and the steering wheel inertia torque to obtain a corrected steering wheel torque, and correcting the steering wheel torque according to the corrected steering wheel torque. According to the technical scheme, the aligning torque error caused by rotating speed fluctuation of the steering wheel is eliminated, and particularly under the working condition that a driver is completely released from the hand, the stability of aligning control is remarkably improved.

The invention provides a steer-by-wire fault processing method and device based on distributed driving and a vehicle, and relates to the technical field of chassis control, the method can activate a distributed driving system to serve as a cross-system redundant execution unit in an extreme fault scene that a steer-by-wire system is completely invalid and loses steering execution capability, and the steer-by-wire fault processing efficiency is improved. The steering intention of a driver is converted into differential distribution of four-wheel driving torque, so that needed additional yawing torque is generated, the traditional mechanical or electric control steering function is effectively replaced, and active control over vehicle steering is achieved. According to the method, the function safety and controllability of the steer-by-wire vehicle when a key system fails are remarkably improved, the advantage of cooperation of multiple actuators of the electric chassis is fully utilized, high-reliability fault degradation processing is achieved, and the safety of a driver and passengers is guaranteed.

The utility model belongs to the technical field of automatic transportation equipment, and particularly relates to an elbow arm type heavy load driving wheel device which comprises a disc bearing, a mounting base plate, a fixed arm, an elbow arm, a hinge shaft A, a hinge shaft B, a hinge shaft C, a hydraulic cylinder, a steering motor, a transmission gear, a driving wheel mounting frame and a driving wheel. According to the elbow arm type heavy load driving wheel device, the functions of bearing, lifting, driving and steering can be integrated in the same module, so that the dependence of the interior of a vehicle body on an extra steering mechanism and an extra lifting mechanism is reduced, and the compactness and the space utilization rate of the whole vehicle structure are improved. By adopting the elbow arm type lifting structure, the wheel set forms an arc-shaped motion trail in the lifting process, and compared with a traditional linear guide rail type lifting mode, loads and impact force can be more effectively dispersed, the local stress concentration phenomenon is reduced, and the occurrence probability of the problems of guide rail abrasion, clamping stagnation and the like is reduced; and the long-term stability and reliability of the structure under the heavy load working condition are improved.

The utility model belongs to the technical field of vehicle control, and particularly relates to a steering angle module and a vehicle. The steering angle module comprises a bogie, a steering motor, a wheel side system and a multi-connecting-rod structure. The bogie is arranged in the Z direction; the steering motor is arranged at the top end of the bogie and can be connected with a vehicle body. The wheel side system is arranged on one side of the bogie in the Y direction. The multi-link structure is connected to the bogie and the wheel side system. The steering motor can drive the bogie to drive the wheel side system and the multi-connecting-rod structure to rotate around the axis of the steering motor together. In the process that the steering motor drives the bogie to rotate, the bogie can drive the multi-connecting-rod structure, then the wheel side system is driven to rotate together, and steering is achieved. Therefore, the reliability in the steering process is ensured through the multi-connecting-rod structure, and the steering angle module has good operation stability.

A steer-by-wire system for a vehicle includes a rack moveable in an axial direction and defining a groove extending in the axial direction of the rack. The system also includes a housing surrounding at least a portion of the rack. The system further includes an anti-rotation device disposed proximate an outer surface of the rack at the mounting location of the rack and within the housing, the anti-rotation device comprising a bearing seated within the groove of the rack. The system yet further includes a delash bearing assembly in contact with the rack to radially bias the rack to a desired position.

To provide a controller for rotary electric machine and an electric power steering apparatus which can set a control gain which is used for controlling the d-axis current command value based on the q-axis current deviation between the current command value of q-axis and the current detection value of q-axis, considering the response of the current of q-axis. A controller for rotary electric machine changes the current command value of d-axis, based on a value obtained by multiplying a proportional gain to a q-axis current deviation which is a deviation between the current command value of q-axis and the current detection value of q-axis; and changes the proportional gain in inverse proportion to the rotational angle speed.

The invention relates to the technical field of vehicle steering, and provides a steering system and a gap adjusting structure, and the gap adjusting structure comprises a structure body with a mounting hole, and an elastic piece and an elastic buffer piece which are arranged on the structure body. The mounting hole is used for mounting a rotating supporting piece arranged on the worm, the elastic piece and the elastic buffer piece are arranged in the mounting hole and abut against the rotating supporting piece, and under the elastic action of the elastic piece, the worm keeps meshed with the worm gear. According to the gap adjusting structure, the elastic piece and the buffer piece are arranged on the structure body, the elastic piece and the buffer piece abut against the rotating supporting piece, and under the elastic effect of the elastic piece, the worm keeps meshing with the worm gear, so that the elastic piece continuously exerts elastic force, and therefore the gap adjusting effect is achieved. Therefore, the worm and the worm gear can be always kept in an abutting state to keep a stable meshing relationship, and the clearance is compensated in real time, so that the operation reliability and accuracy of a steering system can be improved.

Disclosed in the present invention are a road feedback control method and apparatus. The method comprises: by means of a torque sensor stiffness-based steering angle configuration strategy, constructing a driver input torque expression; then acquiring a driver input torque, and, on the basis of the driver input torque expression, calculating a motor rotation angle; then constructing a road feedback motor output torque expression with respect to the motor rotation angle and steering resistance torque expressions for a steering system; and finally, on the basis of a particle swarm optimization, the road feedback motor output torque expression and the steering resistance torque expressions, optimizing parameters of a PID controller. Thus, the present invention uses a swarm intelligent algorithm to achieve rapid optimization of PID control parameters, so as to eliminate reliance on debugging by technicians, thus greatly shortening parameter adjustment periods.

A steering assistance control apparatus to be applied to a vehicle includes a detection unit and a correction unit. The detection unit is configured to detect a road surface cant of a road on which the vehicle is traveling. The correction unit is configured to correct steering target torque in a steering control system, on the basis of a steering characteristic value for each of left steering and right steering and the road surface cant detected by the detection unit. The steering characteristic value indicates a steering characteristic for each combination of a traveling speed and the road surface cant.

A steering assembly comprises: a steering rack configured to be linearly movable; a nut rotatably coupled to the steering rack, wherein the steering rack linearly moves in association with rotation of the nut; a bearing configured to support the rotation of the nut, the bearing comprising an outer race having a flanged part protruding from an outer surface of the outer race of the bearing; and a rack housing accommodating at least a portion of the steering rack, the nut, and the bearing, and having a groove recessed from an inner surface of the rack housing. The flanged part protruding from the outer surface of the outer race of the bearing is disposed in the groove recessed from the inner surface of the rack housing.

The utility model provides a steering structure and an all-terrain vehicle. The steering mechanism is used for connecting a steering wheel and a steering gear of the vehicle and comprises a support, a first shell, an adjusting device, a steering shaft and a power-assisted steering device. The support is used for connecting a vehicle body. The first shell is rotationally connected with the bracket; the adjusting device is connected with the first shell and the support so as to drive the first shell to rotate. One end of the steering shaft is connected with the steering wheel, and the other end is connected with the power-assisted steering device through a universal joint; the power-assisted steering device is connected with a steering gear through a universal joint. The first shell, the adjusting device and the power-assisted steering device in the steering system are integrally installed on the support, so that the situation that the assembly difficulty is large due to the fact that the first shell, the adjusting device and the power-assisted steering device are connected with a vehicle body through other parts is avoided, the number of the parts is reduced, meanwhile, the compactness of the overall structure and the precision control performance of manufacturing and assembly are improved, and the assembly difficulty is reduced; and the installation process with the vehicle body is simplified.

The invention relates to a control method and device of a steer-by-wire system, electronic equipment and a storage medium. The control method of the steer-by-wire system comprises the steps that basic feedback torque and road feeling feedback torque are determined according to driving control state data of a vehicle and steering related data of the steer-by-wire system; determining output proportion coefficients corresponding to the basic feedback torque and the road feeling feedback torque according to the driving control state data; and based on the basic feedback torque, the road feeling feedback torque, and the output ratio coefficients corresponding to the basic feedback torque and the road feeling feedback torque, determining a target feedback torque of the up-rotating motor. According to the embodiment of the invention, different output proportion coefficients can be distributed according to the driving control state data as the basic feedback torque and the road feeling feedback torque, and the target feedback torque of the upward-rotating motor is obtained through superposition output, so that a driver can obtain a good steering hand feeling similar to that of a traditional EPS, the vehicle can be flexibly controlled to steer, and the steering efficiency is improved. The change of an actual road surface can be sensed, the risk is pre-judged in advance, and the driving safety is improved.

A steering reaction force control device, a steering reaction force control method, and a steering reaction force control system according to the present invention determine an amount of torque of a steering reaction force imparted by the reaction force actuator and a direction of torque for returning the steering operation input member to a neutral position from a physical quantity related to a vehicle speed of the vehicle and a physical quantity related to the operation information of the steering operation input member, and output a control signal based on the amount of torque and the direction of torque to the reaction force actuator. As a result, it is possible to prevent the hunting of the operating position of the steering operation input member when the steering operation input member is retained in a given steering position.

The invention provides a vehicle steering wheel and road wheel steering synchronous self-adaptive control method and system, and relates to the technical field of vehicle control. Comprising the following steps: calculating a first steering torque by adopting a feedforward control mode based on an obtained rotating angle and rotating speed of a vehicle steering wheel; performing steering control on the road wheels according to the first steering torque to obtain actual steering angle data of the road wheels; second steering torque is calculated through a PID control closed loop based on the angle deviation between the rotation angle of the vehicle steering wheel and the actual rotation angle of the road wheel; and carrying out dynamic weighting calculation on the first steering torque and the second steering torque to obtain a synthetic motor torque, and carrying out steering control on the vehicle according to the synthetic motor torque. The steering angle of the steering wheel and the steering angle of the road wheel are controlled to achieve rapid, accurate and stable synchronous steering, and the driving safety and comfort are greatly improved.

The embodiment of the invention provides a steering-by-wire system feedback control method, device and equipment, a medium and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that in response to received vehicle state parameters, a target torque value output to a steering wheel and a detected actual torque value of the steering wheel are determined; based on the difference value between the actual torque value and the target torque value, deviation torque corresponding to the steering wheel is determined; based on the deviation torque, the actual torque value and the target torque value, a first torque value distributed to the magnetorheological damper and a second torque value distributed to the permanent magnet motor are determined; and on the basis of the first torque value and the second torque value, control signals are output to the magnetorheological damper and the permanent magnet motor correspondingly. According to the method, the problems that in the related technology, power consumption is high during feedback control of the steering-by-wire system, and the overheating risk is likely to exist are effectively solved.

The invention provides a steer-by-wire fault degradation processing method, device and equipment and a medium, and belongs to the technical field of intelligent driving fault processing, and the method comprises the steps: obtaining the fault information of each redundant subsystem in system components in real time, and determining the current component state level of each system component; executing corresponding fault processing measures according to the current component state level; wherein the system assembly comprises a lower steering engine and a road feeling simulator, and the fault information comprises no fault, failure fault and degradation fault. According to the technical scheme provided by the embodiment of the invention, the corresponding processing operation can be executed according to the current component state level of each system component, so that the degradation fault and the failure fault of the redundant drive-by-wire system can be accurately processed.

A means of transport, a steer-by-wire steering system (10), and a method for establishing a geometric zero position of a steering wheel (7) with an imbalance in a steer-by-wire steering system (10) are proposed. The method comprises the following steps: automatically rotating the steering wheel (7) by a motor through a first angular range (a) in a first direction, automatically determining a first force acting on the steering wheel (7) during rotation through the first angular range (a), automatically determining a first relationship between the first force acting over the first angular range (a), and automatically establishing the geometric zero position depending on the first relationship.