A vehicle electro-hydraulic active steering road sense control system and its control method
A technology of active steering and control system, applied in the direction of automatic steering control components, electric steering mechanism, power steering mechanism, etc. The problem of mastering the driver's vehicle condition and road condition, etc., achieves the effect of convenient cab layout, enhanced anti-interference ability, and simple structure
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Embodiment 1
[0052] like figure 1 shown.
[0053] An automotive electro-hydraulic active steering road feel control system, which mainly consists of a steering wheel 1, a steering column 4, an arc-shaped linear motor, a coupling sleeve mechanism 6, a recirculating ball steering device 7, a steering straight rod 8, a steering trapezoid 9 and a control module 19 components, the steering wheel is installed on the upper end of the steering column 4, the secondary 5 of the arc-shaped linear motor is installed on the steering column 4, the secondary 5 of the arc-shaped linear motor is controlled by the primary 20 of the arc-shaped linear motor, and the arc-shaped linear motor The primary 20 of the linear motor is controlled by the control module 19, and the control module 19 generates an assist torque driving signal according to the signals received from the vehicle and steering sensors. The steering column 4 is connected to the upper and lower ends of the arc-shaped linear motor through two up...
Embodiment 2
[0055] refer to figure 1 .
[0056] An automotive electro-hydraulic active steering road feel control system, including: a mechanical transmission module, an electric power assist module, a hydraulic module, a sensor module and a control module; wherein:
[0057] The mechanical transmission module includes the steering wheel, steering column, recirculating ball steering gear, steering rocker arm, steering straight rod, steering trapezoid and wheels connected in sequence; the steering straight rod includes hydraulic cylinders, pistons, and straight rods; the shell of the hydraulic cylinder passes through the steering rocker. The arm is fixedly connected to the output end of the recirculating ball steering gear, and the casing is provided with an oil inlet and an oil outlet; the piston is assembled in the above-mentioned hydraulic cylinder, and the two ends of the piston are fixedly installed with a straight rod, and the rear end of the straight rod is connected to the steering ...
Embodiment 3
[0062] like figure 2 shown.
[0063] A vehicle electro-hydraulic active steering road feeling control method, comprising the following steps:
[0064] 1. The control module acquires vehicle status information, including:
[0065] 1.1 The state estimation module 31 receives the lateral acceleration signal 25 and the wheel speed signal 35, uses the Kalman filter method to estimate the longitudinal force and lateral force on the wheel according to the vehicle load and tire parameters, and calculates the influence coefficient of the lateral force 36. The righting moment estimation module 33 calculates the righting moment 37 according to the lateral force influence coefficient;
[0066] 1.2 The booster gain module 29 receives the vehicle speed signal 23 and the torque signal 22, and calculates the ideal booster gain 38 in combination with the normalizing torque 37;
[0067] 1.3 The variable transmission module 34 receives the vehicle speed signal 23, the yaw rate 24 and the rot...
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