Magnetic screw integrated steer-by-wire system and vehicle

Abstract

The application discloses a kind of magnetic screw integrated formula drive-by-wire steering system and vehicle based on, the system includes collecting driver steering input torque;Transfer and measure input torque, and measure the rotation angle of steering wheel module;Road feel simulation torque is generated, and road feel simulation torque is first proportionally increased using magnetic gear, and is loaded to steering column module;The driving torque of steering system is generated, and driving torque is second proportionally increased using magnetic gear, while output to magnetic screw module;Using the mode of contactless magnetic force transmission, the rotary motion from magnetic gear composite drive motor module is converted into linear motion output;Under the linear motion of magnetic screw module, it drives steering wheel steering.The application eliminates mechanical friction characteristics, greatly improves the control performance of drive-by-wire steering system;While expanding the overload protection capability of drive-by-wire steering system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle steering, in particular to a magnetic screw integrated steer-by-wire system and a vehicle. BACKGROUND

[0002] With the deepening of the intelligentization of vehicles, advanced driving assistance systems, such as auxiliary braking systems, lane keeping systems, etc., have gradually become standard configurations of automobiles. The steer-by-wire system is a key executive component supporting the landing of the advanced driving assistance system, which can actively adjust the steering under the condition that the driver does not intervene, and is a hot product currently developed by the automobile industry.

[0003] At present, the existing steer-by-wire system scheme mainly adopts a combination of a motor and a mechanical transmission link. The motor provides a steering driving torque, and the mechanical transmission link drives the steering wheel to steer under the driving of the motor. However, the above scheme has the following defects: 1. The inherent mechanical wear, aging and jamming characteristics of the mechanical transmission link and its lack of overload protection capability will result in low reliability of the steer-by-wire system; 2. The existence of mechanical friction nonlinearity seriously deteriorates the control performance of the steer-by-wire system; 3. The contact gap between the mechanical gear pairs is easy to induce the steering impact problem of the steer-by-wire system, and further deteriorate the driving experience of the vehicle. This will seriously threaten the safety and comfort of the intelligent driving vehicle. SUMMARY

[0004] The present application aims to at least solve one of the problems in the related art.

[0005] In order to solve the problems of low reliability of the steer-by-wire system caused by the inherent mechanical wear, aging and jamming characteristics of the mechanical transmission link and its lack of overload protection capability, the problem of deterioration of the control performance of the steer-by-wire system caused by mechanical friction nonlinearity, and the problem of steering impact of the steer-by-wire system induced by the gap between the mechanical gear pairs, the present application provides a magnetic screw integrated steer-by-wire system.

[0006] Another object of the present application is to provide a vehicle.

[0007] To achieve the above object, the present application provides a magnetic screw integrated steer-by-wire system, comprising: a steering wheel module, a steering column module, a magnetic gear composite road feel motor module, a magnetic gear composite drive motor module, a magnetic screw module and a steering drag link module.

[0008] The steering wheel module is used for collecting the steering input torque of the driver.

[0009] The steering column module is used for transmitting and measuring the input torque and measuring the rotation angle of the steering wheel module.

[0010] The magnetic gear composite road feeling motor module is used for generating a road feeling simulation torque, and a magnetic gear is used to increase the road feeling simulation torque by a first proportion and load the road feeling simulation torque to the steering column module;

[0011] The magnetic gear composite drive motor module is used for generating a drive torque of a steering system, and a magnetic gear is used to increase the drive torque by a second proportion and output the drive torque to the magnetic force screw module;

[0012] The magnetic force screw module is used for converting a rotary motion from the magnetic gear composite drive motor module into a linear motion output by using a contactless magnetic force transmission mode;

[0013] The steering pull rod module is used for driving a steering wheel to steer under the linear motion of the magnetic force screw module.

[0014] In addition, the magnetic force screw integrated steer-by-wire system according to the above-mentioned embodiment of the present application can further have the following additional technical features:

[0015] Further, in an embodiment of the present application, the magnetic gear composite road feeling motor module adopts a pseudo-direct-drive magnetic gear composite motor, which comprises a road feeling motor stator, a road feeling motor outer rotor, a road feeling motor inner rotor, a road feeling motor bearing and a road feeling motor housing;

[0016] The road feeling motor stator is fixed to the motor housing;

[0017] The road feeling motor outer rotor is fixedly connected with the steering column module and keeps synchronous rotary motion; the road feeling motor outer rotor performs low-speed high-torque rotary motion;

[0018] The road feeling motor inner rotor performs high-speed low-torque rotary motion.

[0019] Further, in an embodiment of the present application, the road feeling motor stator comprises a road feeling motor stator core, a road feeling motor stator armature winding and a road feeling motor stator permanent magnet array, the road feeling motor stator armature winding and the road feeling motor stator permanent magnet array being fixed to the road feeling motor stator core;

[0020] The road feeling motor outer rotor comprises a road feeling motor outer rotor core and a road feeling motor magnetic adjusting ring, the road feeling motor magnetic adjusting ring being fixed to the road feeling motor outer rotor core;

[0021] The road feeling motor inner rotor comprises a road feeling motor inner rotor core and a road feeling motor inner rotor permanent magnet array, the road feeling motor inner rotor permanent magnet array being fixed to the road feeling motor inner rotor core;

[0022] The road feeling motor stator and the road feeling motor inner rotor constitute a conventional motor, and output a road feeling simulation torque through the road feeling motor inner rotor; the road feeling motor stator permanent magnet array, the road feeling motor magnetic adjusting ring and the road feeling motor inner rotor permanent magnet array constitute a magnetic gear reducer, which first proportionally increases the road feeling simulation torque and loads the road feeling simulation torque to the steering column module through the road feeling motor outer rotor.

[0023] Further, in an embodiment of the present application, the road feeling motor stator permanent magnet array and the road feeling motor inner rotor permanent magnet array adopt a radial magnetization mode, and the same circumferential side adopts an N-pole-S-pole alternating arrangement mode, and the pole pair number of the road feeling motor stator permanent magnet array, the road feeling motor magnetic adjusting ring and the road feeling motor inner rotor permanent magnet array satisfies the following condition:

[0024] P lm = P ls + P lr

[0025] Wherein, P lm is the pole pair number of the road feeling motor magnetic adjusting ring, P ls is the pole pair number of the road feeling motor stator permanent magnet array, and P lr is the pole pair number of the road feeling motor inner rotor permanent magnet array.

[0026] Further, in an embodiment of the present application, the magnetic gear composite driving motor module adopts a pseudo-direct-drive type magnetic gear composite motor, which comprises a driving motor stator, a driving motor outer rotor, a driving motor inner rotor, a driving motor bearing and a driving motor housing;

[0027] The driving motor stator is fixed to the driving motor housing;

[0028] The driving motor outer rotor is fixedly connected with the magnetic force screw module; and the driving motor outer rotor performs a low-speed high-torque rotary motion;

[0029] The driving motor inner rotor performs a high-speed low-torque rotary motion.

[0030] Further, in an embodiment of the present application, the driving motor stator comprises a driving motor stator core, a driving motor stator armature winding and a driving motor stator permanent magnet array, and the driving motor stator armature winding and the driving motor stator permanent magnet array are fixed to the driving motor stator core;

[0031] The driving motor outer rotor comprises a driving motor outer rotor core and a driving motor magnetic adjusting ring, and the driving motor magnetic adjusting ring is fixed to the driving motor outer rotor core;

[0032] The inner rotor of the driving motor comprises an inner rotor core of the driving motor and an inner rotor permanent magnet array of the driving motor, and the inner rotor permanent magnet array of the driving motor is fixed to the inner rotor core of the driving motor;

[0033] The driving motor stator and the driving motor inner rotor constitute a conventional motor, and the driving torque is output through the driving motor inner rotor; the driving motor stator permanent magnet array, the driving motor magnetic adjusting ring and the driving motor inner rotor permanent magnet array constitute a magnetic gear reducer, the driving torque is secondarily increased in proportion, and is output to the magnetic screw module through the driving motor outer rotor.

[0034] Further, in an embodiment of the present application, the driving motor stator permanent magnet array and the driving motor inner rotor permanent magnet array adopt a radial magnetization mode, and the same circumferential side adopts an N-pole-S-pole alternating arrangement mode, and the pole pair number of the driving motor stator permanent magnet array, the driving motor magnetic adjusting ring and the driving motor inner rotor permanent magnet array satisfies the following condition:

[0035] P=P+P

[0036] msr

[0037] Wherein, P m is the pole pair number of the driving motor magnetic adjusting ring, P s is the pole pair number of the driving motor stator permanent magnet array, and P r is the pole pair number of the driving motor inner rotor permanent magnet array.

[0038] Further, in an embodiment of the present application, the magnetic screw module comprises multiple types of magnetic screw, such as a reluctance magnetic screw, a permanent magnetic screw, an inductive magnetic screw and a permanent-magnetic-inductive magnetic screw;

[0039] The magnetic screw module further comprises a magnetic screw rotor component, a magnetic screw traveler component and a magnetic screw outer housing;

[0040] The magnetic screw rotor component is fixedly connected with the driving motor outer rotor to perform synchronous rotary motion;

[0041] The magnetic screw traveler component adopts a non-contact magnetic force transmission mode to perform linear motion under the rotary motion of the magnetic screw rotor component.

[0042] Further, in an embodiment of the present application, the magnetic screw rotor component comprises a shaft coupling and a magnetic screw rotor, and the magnetic screw rotor is coupled with the driving motor outer rotor through the shaft coupling;

[0043] The magnetic screw mover component comprises a linear bearing and a magnetic screw mover which makes linear motion under the guidance of the linear bearing and drives the steering wheel to steer through the steering pull rod module.

[0044] To achieve the above object, another aspect of the present application provides a vehicle equipped with the described magnetic screw integrated steer-by-wire system.

[0045] The magnetic screw integrated steer-by-wire system and the vehicle of the embodiments of the present application cancel the traditional mechanical transmission link, adopt the magnetic screw to transmit the steering force between the steering motor and the steering wheel, fundamentally avoid the problem of low reliability of the steer-by-wire system caused by the inherent mechanical wear, aging and jamming characteristics of the mechanical transmission link, eliminate the mechanical friction characteristics, greatly improve the control performance of the steer-by-wire system, and at the same time expand the overload protection capability of the steer-by-wire system. The magnetic gear composite motor is used as the road feel motor and the driving motor of the steer-by-wire system, the mechanical gear reduction mechanism is canceled, and the steering impact problem caused by the mechanical gear contact gap is eliminated. The vehicle of the present application is equipped with the magnetic screw integrated steer-by-wire system, which makes the vehicle steering process safer, more reliable, smoother and more comfortable, the magnetic screw intervention makes the steer-by-wire system free from regular mechanical maintenance and maintenance, and reduces the cost.

[0046] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0048] Figure 1 is a structural diagram of the magnetic screw integrated steer-by-wire system in the embodiments of the present application;

[0049] Figure 2 is a sectional view of the magnetic gear composite road feel motor module in the embodiments of the present application;

[0050] Figure 3 is a sectional view of the magnetic gear composite driving motor module in the embodiments of the present application;

[0051] Figure 4 is a structural diagram of the magnetic resistance type magnetic screw in the embodiments of the present application;

[0052] Figure 5 is a structural diagram of the permanent magnet type magnetic screw in the embodiments of the present application.

[0053] Wherein, 1, steering wheel module, 2, steering column module, 21, steering column, 22, torque sensor, 23, angle sensor, 3, magnetic gear composite road feel motor module, 31, road feel motor stator, 311, road feel motor stator core, 312, road feel motor stator armature winding, 313, road feel motor stator permanent magnet array, 32, road feel motor outer rotor, 321, road feel motor outer rotor core, 322, road feel motor magnet adjusting ring, 33, road feel motor inner rotor, 331, road feel motor inner rotor core, 332, road feel motor inner rotor permanent magnet array, 34, road feel motor bearing, 341, road feel motor inner rotor bearing, 342, road feel motor outer rotor bearing, 35, road feel motor outer shell, 4, magnetic gear composite drive motor module, 41, drive motor stator, 411, drive motor stator core, 412, drive motor stator armature winding, 413, drive motor stator permanent magnet array, 42, drive motor outer rotor, 421, drive motor outer rotor core, 422, drive motor magnet adjusting ring, 43, drive motor inner rotor, 431, drive motor inner rotor core, 432, drive motor inner rotor permanent magnet array, 44, drive motor bearing, 441, drive motor inner rotor bearing, 442, drive motor outer rotor bearing, 45, drive motor outer shell, 5, magnetic screw module, 51, magnetic screw rotor part, 511, coupling, 512, magnetic screw rotor, 5121, magnetic resistance type magnetic screw rotor core, 5122, magnetic resistance type magnetic screw rotor thread, 5123, permanent magnet type magnetic screw rotor core, 5124, permanent magnet type magnetic screw rotor permanent magnet array, 52, magnetic screw traveler part, 521, linear bearing, 522, magnetic screw traveler, 5221, magnetic resistance type magnetic screw traveler translation shaft, 5222, magnetic resistance type magnetic screw traveler permanent magnet array, 5223, permanent magnet type magnetic screw traveler translation shaft, 5224, permanent magnet type magnetic screw traveler permanent magnet array, 53, magnetic screw outer shell, 6, steering tie rod module, 61, steering tie rod, 62, steering knuckle arm, 63, steering knuckle. DETAILED DESCRIPTION

[0054] It should be noted that the embodiments and features of the present application can be combined with each other in the case of no conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0055] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0056] The magnetic screw integrated steer-by-wire system and vehicle according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0057] like Figure 1 As shown, this invention provides a magnetic lead screw integrated steer-by-wire system, comprising a steering wheel module 1, a steering column module 2, a magnetic gear composite road feel motor module 3, a magnetic gear composite drive motor module 4, a magnetic lead screw module 5, and a steering tie rod module 6 (the steer-by-wire system is symmetrical left and right; only the right half is discussed here). The steering wheel module 1 is used to acquire the driver's steering input. The steering column module 2 is used to transmit and measure the driver's input torque, and simultaneously measure the steering angle of the steering wheel module 1. The magnetic gear composite road feel motor module 3 undertakes two tasks: generating road feel and increasing deceleration torque. On one hand, the magnetic gear composite road feel motor module 3 generates a simulated road feel torque; on the other hand, it uses magnetic gears to increase the simulated road feel torque by a fixed proportion, while simultaneously loading it onto the steering column module 2. The magnetic gear composite drive motor module 4 undertakes two tasks: steering drive and deceleration torque increase. On one hand, the magnetic gear composite drive motor module 4 generates the driving torque of the steering system; on the other hand, it uses magnetic gears to increase the driving torque by a fixed proportion, while simultaneously outputting it to the magnetic lead screw module 5. The magnetic lead screw module 5 uses a contactless magnetic force transmission method to convert the rotational motion from the magnetic gear composite drive motor module 4 into linear motion output. Under the linear push of the magnetic lead screw module 5, the steering rod module 6 drives the steering wheel to turn.

[0058] like Figure 1 and Figure 2 As shown, the magnetic gear composite road feel motor module 3 adopts a pseudo-direct drive magnetic gear composite motor, including a road feel motor stator 31, a road feel motor outer rotor 32, a road feel motor inner rotor 33, a road feel motor bearing 34, and a road feel motor housing 35. The road feel motor stator 31 is fixed to the motor housing 35 and remains stationary. The road feel motor outer rotor 32 is fixedly connected to the steering column module 2 and maintains synchronous rotational motion; the road feel motor outer rotor 32 performs low-speed, high-torque rotational motion. The road feel motor inner rotor 33 performs high-speed, low-torque rotational motion.

[0059] Further, the road feel motor stator 31 comprises a road feel motor stator core 311, a road feel motor stator armature winding 312 and a road feel motor stator permanent magnet array 313, the road feel motor stator armature winding 312 and the road feel motor stator permanent magnet array 313 are fixed to the road feel motor stator core 311. The road feel motor outer rotor 32 comprises a road feel motor outer rotor core 321 and a road feel motor flux modulation ring 322, the road feel motor flux modulation ring 322 is fixed to the road feel motor outer rotor core 321. The road feel motor inner rotor 33 comprises a road feel motor inner rotor core 331 and a road feel motor inner rotor permanent magnet array 332, the road feel motor inner rotor permanent magnet array 332 is fixed to the road feel motor inner rotor core 331. The road feel motor stator 31 and the road feel motor inner rotor 33 constitute a conventional motor, outputting road feel analog torque through the road feel motor inner rotor 33; the road feel motor stator permanent magnet array 313, the road feel motor flux modulation ring 322 and the road feel motor inner rotor permanent magnet array 332 constitute a magnetic gear reducer, which increases the road feel analog torque by a fixed proportion and loads it to the steering column module 2 through the road feel motor outer rotor 32.

[0060] Further, the road feel motor stator permanent magnet array 313 and the road feel motor inner rotor permanent magnet array 332 are both radially magnetized, and the same circumferential side is arranged in an “N pole-S pole” alternating manner, the pole pair number of the road feel motor stator permanent magnet array 313, the road feel motor flux modulation ring 322 and the road feel motor inner rotor permanent magnet array 332 satisfies the following condition:

[0061] P lm = P ls + P lr

[0062] Wherein, P lm is the pole pair number of the road feel motor flux modulation ring 322, P ls is the pole pair number of the road feel motor stator permanent magnet array 313, and P lr is the pole pair number of the road feel motor inner rotor permanent magnet array 332.

[0063] As shown in Figure 1 and Figure 3 , the magnetic gear composite drive motor module 4 adopts a pseudo-direct-drive magnetic gear composite motor, comprising a drive motor stator 41, a drive motor outer rotor 42, a drive motor inner rotor 43, a drive motor bearing 44 and a drive motor outer housing 45. The drive motor stator 41 is fixed to the drive motor outer housing 45 and remains stationary. The drive motor outer rotor 42 is fixedly connected with the magnetic force screw module 5; the drive motor outer rotor 42 performs low-speed high-torque rotary motion. The drive motor inner rotor 43 performs high-speed low-torque rotary motion.

[0064] Further, the driving motor stator 41 comprises a driving motor stator core 411, a driving motor stator armature winding 412 and a driving motor stator permanent magnet array 413, the driving motor stator armature winding 412 and the driving motor stator permanent magnet array 413 are fixed to the driving motor stator core 411. The driving motor outer rotor 42 comprises a driving motor outer rotor core 421 and the driving motor flux modulation ring 422, the driving motor flux modulation ring 422 is fixed to the driving motor outer rotor core 421. The driving motor inner rotor 43 comprises a driving motor inner rotor core 431 and a driving motor inner rotor permanent magnet array 432, the driving motor inner rotor permanent magnet array 432 is fixed to the driving motor inner rotor core 431. The driving motor stator 41 and the driving motor inner rotor 43 constitute a conventional motor, output driving torque through the driving motor inner rotor 43; the driving motor stator permanent magnet array 413, the driving motor flux modulation ring 422 and the driving motor inner rotor permanent magnet array 432 constitute a magnetic gear reducer, which increases the driving torque by a fixed proportion and outputs it to the magnetic screw module 5 through the driving motor outer rotor 42.

[0065] Further, the driving motor stator permanent magnet array 413 and the driving motor inner rotor permanent magnet array 432 adopt radial magnetization, and the same circumferential side adopts an "N pole-S pole" alternating arrangement. The pole pair number of the driving motor stator permanent magnet array 413, the driving motor flux modulation ring 422 and the driving motor inner rotor permanent magnet array 432 satisfies the following conditions:

[0066] P = P + P

[0067] msr

[0068] Wherein, P m is the pole pair number of the driving motor flux modulation ring 422, P s is the pole pair number of the driving motor stator permanent magnet array 413, and P r is the pole pair number of the driving motor inner rotor permanent magnet array 432.

[0069] Further, the magnetic screw module 5 includes but is not limited to a reluctance magnetic screw, a permanent magnet magnetic screw, an inductive magnetic screw and a permanent magnet-inductive magnetic screw.

[0070] Further, the magnetic screw module 5 comprises a magnetic screw rotor component 51, a magnetic screw traveler component 52 and a magnetic screw outer housing 53. The magnetic screw rotor component 51 is fixedly connected with the driving motor outer rotor 42 and performs synchronous rotary motion. The magnetic screw traveler component 52 adopts a non-contact magnetic force transmission mode and performs linear motion under the rotary motion of the magnetic screw rotor component 51.

[0071] Further, the magnetic screw rotor component 51 comprises a coupling 511 and a magnetic screw rotor 512, the magnetic screw rotor 512 is coupled with the driving motor outer rotor 42 through the coupling 511. The magnetic screw traveler component 52 comprises a linear bearing 521 and a magnetic screw traveler 522, the magnetic screw traveler 522 does linear motion under the guidance of the linear bearing 521, and drives the steering wheel to steer through the steering pull rod module 6.

[0072] The application also provides a vehicle equipped with the magnetic screw integrated steer-by-wire system.

[0073] Figure 4 An embodiment of the magnetic screw module 5 in the application is provided, which is a magnetic resistance type magnetic screw. The magnetic screw rotor 512 adopts a magnetic resistance structure, comprising a magnetic resistance type magnetic screw rotor core 5121 and a magnetic resistance type magnetic screw rotor thread 5122. The magnetic resistance type magnetic screw rotor thread 5122 is a spiral thread, covering the outer surface of the magnetic resistance type magnetic screw rotor core 5121. The magnetic screw traveler 522 adopts a common permanent magnet structure, comprising a magnetic resistance type magnetic screw traveler translation axis 5221 and a magnetic resistance type magnetic screw traveler permanent magnet array 5222. The magnetic resistance type magnetic screw traveler translation axis 5221 is a hollow axis with one end closed, and the magnetic resistance type magnetic screw traveler permanent magnet array 5222 is fixed to the inner side of the magnetic resistance type magnetic screw traveler translation axis 5221. The magnetic resistance type magnetic screw traveler permanent magnet array 5222 is composed of a spiral permanent magnet and a spiral thread. The permanent magnet is radially magnetized, and the same side is alternately arranged in the form of "N-pole-thread-S-pole-thread".

[0074] Figure 5An embodiment of the magnetic screw module 5 described in the present application is provided - a permanent magnetic magnetic screw, the magnetic screw rotor 512 adopts a permanent magnetic structure, including a permanent magnetic magnetic screw rotor core 5123 and a permanent magnetic magnetic screw rotor permanent magnetic array 5124, the permanent magnetic magnetic screw rotor permanent magnetic array 5124 covers the outer surface of the permanent magnetic magnetic screw rotor core 5123; the permanent magnetic magnetic screw mover 522 adopts a permanent magnetic structure, including a permanent magnetic magnetic screw mover translation axis 5223 and a permanent magnetic magnetic screw mover permanent magnetic array 5224, the permanent magnetic magnetic screw mover translation axis 5223 is a hollow shaft with one end closed, and the permanent magnetic magnetic screw mover permanent magnetic array 5224 is fixed to the inside of the permanent magnetic magnetic screw mover translation axis 5223; the permanent magnetic magnetic screw rotor permanent magnetic array 5124 and the permanent magnetic magnetic screw mover permanent magnetic array 5224 are both composed of spiral permanent magnets, the permanent magnets are magnetized in the radial direction, and the permanent magnetic magnetic screw rotor permanent magnetic array 5124 and the permanent magnetic magnetic screw mover permanent magnetic array 5224 on the same side can be in the form of a common permanent magnetic structure with "N pole-S pole" alternation or a Halbach permanent magnetic array structure.

[0075] The magnetic screw integrated steer-by-wire system and the vehicle according to the embodiment of the present application cancel the traditional mechanical transmission link, and adopt the magnetic screw to transmit the steering force between the steering motor and the steering wheel, so that the problem of low reliability of the steer-by-wire system caused by the mechanical wear, aging and jamming characteristics inherent in the mechanical transmission link is fundamentally avoided; the mechanical friction characteristics are eliminated, the control performance of the steer-by-wire system is greatly improved, and the overload protection capability of the steer-by-wire system is expanded. The magnetic gear composite motor is used as the road feeling motor and the driving motor of the steer-by-wire system, the mechanical gear reduction mechanism is canceled, and the steering impact problem caused by the mechanical gear contact gap is eliminated. The vehicle of the present application is equipped with the magnetic screw integrated steer-by-wire system, so that the vehicle steering process is safer, more reliable, smoother and more comfortable, the magnetic screw intervention makes the steer-by-wire system free from regular mechanical maintenance and maintenance, and the cost is reduced.

[0076] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0077] Furthermore, the terms "first", "second", "third", "fourth", "fifth" and "sixth" are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or a significant nature of so described elements. It is to be understood that a "first", "second", "third", "fourth", "fifth", or "sixth" feature can be incorporated into one or more elements of a device, and the various features can be in either an implicit or explicit combination. Unless otherwise defined, all terms used herein, including technical terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

Claims

1. A magnetic screw integrated steer-by-wire system, characterized in that, The steering wheel module, the steering column module, the magnetic gear composite road feel motor module, the magnetic gear composite drive motor module, the magnetic force screw module and the steering pull rod module are included. The steering wheel module is used for collecting the steering input torque of the driver. The steering column module is used for transmitting and measuring the input torque and measuring the rotation angle of the steering wheel module. The magnetic gear composite road feel motor module is used for generating a road feel simulation torque, adopting a magnetic gear to first proportionally increase the road feel simulation torque and loading the road feel simulation torque to the steering column module. The magnetic gear composite drive motor module is used for generating a driving torque of the steering system, adopting a magnetic gear to second proportionally increase the driving torque and simultaneously outputting the driving torque to the magnetic force screw module. The magnetic force screw module is used for converting the rotary motion from the magnetic gear composite drive motor module into linear motion output by using a non-contact magnetic force transmission mode. The steering pull rod module is used for driving the steering wheel to steer under the linear motion of the magnetic force screw module. The magnetic gear composite road feel motor module adopts a pseudo-direct-drive magnetic gear composite motor, including a road feel motor stator, a road feel motor outer rotor, a road feel motor inner rotor, a road feel motor bearing and a road feel motor housing. The road feel motor stator is fixed to the motor housing. The road feel motor outer rotor is fixedly connected with the steering column module and keeps synchronous rotary motion. The road feel motor outer rotor performs low-speed high-torque rotary motion. The road feel motor inner rotor performs high-speed low-torque rotary motion. The road feel motor stator includes a road feel motor stator core, a road feel motor stator armature winding and a road feel motor stator permanent magnet array, the road feel motor stator armature winding and the road feel motor stator permanent magnet array being fixed to the road feel motor stator core. The road feel motor outer rotor includes a road feel motor outer rotor core and a road feel motor magnetic adjusting ring, the road feel motor magnetic adjusting ring being fixed to the road feel motor outer rotor core. The road feel motor inner rotor includes a road feel motor inner rotor core and a road feel motor inner rotor permanent magnet array, the road feel motor inner rotor permanent magnet array being fixed to the road feel motor inner rotor core. The road feel motor stator and the road feel motor inner rotor constitute a conventional motor, and the road feel motor stator outputs a road feel simulation torque through the road feel motor inner rotor; the road feel motor stator permanent magnet array, the road feel motor magnetic adjusting ring and the road feel motor inner rotor permanent magnet array constitute a magnetic gear reducer, which first proportionally increases the road feel simulation torque and loads the road feel simulation torque to the steering column module through the road feel motor outer rotor.

2. The magnetic lead screw integrated steer-by-wire system of claim 1, wherein, The road feel motor stator permanent magnet array and the road feel motor inner rotor permanent magnet array adopt a radial magnetization mode, and the same circumferential side is arranged in an N-pole-S-pole alternating mode, and the pole pair number of the road feel motor stator permanent magnet array, the road feel motor magnetic adjusting ring and the road feel motor inner rotor permanent magnet array satisfies the following condition: wherein, is the number of pole pairs of the road feel motor magnetor, is the number of pole pairs of the road feel motor stator permanent magnet array, is the number of pole pairs of the road feel motor inner rotor permanent magnet array.

3. The magnetic lead screw integrated steer-by-wire system of claim 1, wherein, The magnetic gear composite drive motor module adopts a pseudo-direct-drive magnetic gear composite motor, including a drive motor stator, a drive motor outer rotor, a drive motor inner rotor, a drive motor bearing and a drive motor housing. The drive motor stator is fixed to the drive motor housing. The driving motor outer rotor is fixedly connected with the magnetic force screw module; the driving motor outer rotor performs low-speed high-torque rotary motion; The driving motor inner rotor performs high-speed low-torque rotary motion.

4. The magnetic lead screw integrated steer-by-wire system of claim 3, wherein, The driving motor stator comprises a driving motor stator core, a driving motor stator armature winding and a driving motor stator permanent magnet array, the driving motor stator armature winding and the driving motor stator permanent magnet array are fixed to the driving motor stator core; The driving motor outer rotor comprises a driving motor outer rotor core and a driving motor magnetic adjusting ring, the driving motor magnetic adjusting ring is fixed to the driving motor outer rotor core; The driving motor inner rotor comprises a driving motor inner rotor core and a driving motor inner rotor permanent magnet array, the driving motor inner rotor permanent magnet array is fixed to the driving motor inner rotor core; The driving motor stator and the driving motor inner rotor constitute a conventional motor, and a driving torque is output through the driving motor inner rotor; The driving motor stator permanent magnet array, the driving motor magnetic adjusting ring and the driving motor inner rotor permanent magnet array constitute a magnetic gear reducer, the driving torque is secondarily increased in proportion, and is output to the magnetic force screw module through the driving motor outer rotor.

5. The magnetic lead screw integrated steer-by-wire system of claim 4, wherein, The driving motor stator permanent magnet array and the driving motor inner rotor permanent magnet array adopt a radial magnetization mode, and the same circumferential side is arranged in an N-pole-S-pole alternating mode, the number of pole pairs of the driving motor stator permanent magnet array, the driving motor magnetic adjusting ring and the driving motor inner rotor permanent magnet array satisfies the following condition: wherein, Np is the number of pole pairs of the drive motor magnetizing ring, Np is the number of pole pairs of the drive motor magnetizing ring, Np is the number of pole pairs of the drive motor magnetizing ring, 6. The magnetic lead screw integrated steer-by-wire system of claim 3, wherein, The magnetic force screw module comprises multiple types of magnetic force screws, including a reluctance type magnetic force screw, a permanent magnet type magnetic force screw, an inductive type magnetic force screw and a permanent magnet-inductive type magnetic force screw; The magnetic force screw module further comprises a magnetic force screw rotor component, a magnetic force screw mover component and a magnetic force screw outer housing; The magnetic force screw rotor component is fixedly connected with the driving motor outer rotor and performs synchronous rotary motion; The magnetic force screw mover component performs linear motion in a non-contact magnetic force transmission mode under the rotary motion of the magnetic force screw rotor component.

7. The magnetic lead screw integrated steer-by-wire system of claim 6, wherein, The magnetic force screw rotor component comprises a shaft coupling and a magnetic force screw rotor, the magnetic force screw rotor is coupled with the driving motor outer rotor through the shaft coupling; The magnetic force screw mover component comprises a linear bearing and a magnetic force screw mover, the magnetic force screw mover performs linear motion under the guidance of the linear bearing and drives the steering wheel to steer through the steering pull rod module.

8. A vehicle characterized by comprising: Assemble the magnetic force screw integrated steer-by-wire system according to any one of claims 1-7.

Images