Sleeve motor steer-by-wire device and control method

Abstract

The invention discloses a sleeve motor steering-by-wire device and a control method, wherein the steering-by-wire device includes a steering wheel, a steering column connected to the steering wheel, a left wheel steering transmission mechanism connected to the left wheel, and a steering column connected to the right wheel. The connected right wheel steering transmission mechanism, and the mechanical steering transmission mechanism connected to the steering column through the electromagnetic clutch, the steering column is connected to the road sense / assist motor through the reducer, and the steering device also includes a steering by wire execution The steer-by-wire actuator includes a first sleeve motor, a second sleeve motor, and a planetary roller screw mechanism driven by the first sleeve motor and / or the second sleeve motor. The invention adopts a double-sleeve motor and a planetary roller screw mechanism, fully utilizes the axial space of the rack and the tie rod protective sleeve to reduce the radial size of the motor, and has high transmission efficiency, which is easy to improve the double-sleeve motor when working under heavy load. drive consistency.

Description

technical field [0001] The invention relates to the technical field of automobile parts, in particular to the automobile steering by wire technology. Background technique [0002] The intelligentization of automobiles is developing rapidly. Steering by wire is a key link in the development of intelligent automobiles, especially one of the necessary technologies for unmanned driving. The steer-by-wire technology has gradually matured and has been applied to a small number of models. The steer-by-wire system requires redundancy and fault-tolerant functions. Not only does it need to implement diagnostic and fault-tolerant control algorithms on the software, but it also requires redundant design of the hardware, which leads to complex hardware layout, high cost, and low hardware utilization of the steer-by-wire system. [0003] At present, there have been many researches on steering-by-wire technology. Among them, the dual-motor redundant steering-by-wire system designed by Inf...

AI Technical Summary

Problems solved by technology

Becker et al. proposed an electronically controlled hydraulic steer-by-wire system (patent number US20160068182A1). This device controls the pressure of the steering wheel cylinder through two motor pumps to drive the tie rods on both sides to move left and right, but the response speed of the motor to establish hydraulic pressure is slow. Unreliable factors such as increased oil leakage and air bubbles in the high-pressure oil pipeline, and the direct mechanical connection after the steering-by-wire failure cannot be realized

A hybrid steer-by-wire system (Patent No. 201610989594.2) invented by Yang Lin et al. In this system, the road sense motor and the power assist motor are separated, and only one set of steering executive motor is used to drive the double-row planetary gear reducer, which is then driven by the worm rack. The tie rod moves left and right, and the steering wheel and the steering wheel have real-time controllable force transmission characteristics and angle transmission characteristics. When the system fails, the clutch returns to the mechanical steering state, but the system has a complex structure and low transmission efficiency.

Yu Leiyan designed a steer-by-wire system and control method for electric vehicles (Patent No. 201310649410.4). The system designed a steering wheel force feedback motor and a worm reducer to simulate the road feel, and the steering motor and planetary gear reducer drive the steering gear. The gear realizes the steering, and the motor and the planetary gear reducer are installed near the steering gear, which needs to occupy more layout space, and the working efficiency of the motor is reduced through the transmission of the rack and pinion steering gear, and the steering mode in which the motor fails cannot be realized.

[0004] To sum up, the existing steering-by-wire system has contradictions between low transmission efficiency, complex structure, difficult space layout, and redundant and failure working mode requirements.

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