Redundant road feel simulation device and control method

Abstract

The application relates to the field of automobile technology, in particular to a redundancy road feeling simulation device and a control method. The device comprises a pressing block, a road feeling simulator shell, a rotating shaft, a pressing block spring, a pressing block support seat, an electromagnetic suction disc, a guide sleeve, an end plug nut and a pressing block controller; the pressing block is arranged in the road feeling simulator shell; the arc surface of the pressing block is attached to the rotating shaft; the pressing block spring is arranged on the pressing block; the pressing block is supported through the pressing block support seat; the front part of the pressing block support seat is fixed with the electromagnetic suction disc; the rear end of the pressing block support seat is fixed on the road feeling simulator shell; the outer surface of the pressing block is provided with the guide sleeve; the guide sleeve is coaxially interference-fitted with the road feeling simulator shell; the end plug nut is arranged on the road feeling simulator shell; and the pressing block controller is connected with the electromagnetic suction disc through a wire harness. The application can compensate for the discomfort of the driver losing the road feeling in an emergency, and prevent the safety risk caused by the large-angle steering of the driver when the road feeling simulator suddenly fails.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a redundant road feel simulation device and a control method. Background Art

[0002] Currently, major automobile manufacturers and steering gear suppliers are vigorously researching front-wheel steer-by-wire, and complete vehicles equipped with front-wheel steer-by-wire will soon be available on the market.

[0003] Traditional mechanically linked steering systems connect the steering wheel and steering gear via a steering column and intermediate shaft. The driver turns the steering wheel, which mechanically drives the steering gear, thus achieving steering. During this process, the force applied by the driver overcomes the system's friction and damping, including resistance between the tires and the road.

[0004] In front-wheel steer-by-wire solutions, the mechanical connection between the steering column and the steering gear is eliminated. Instead, the driver's steering experience is completely simulated by the power-assisted motor of the road feel simulator. The resistance applied by the road feel simulator motor simulates the system's friction, damping, and the resistance between the tire and the ground. However, if the road feel simulator motor malfunctions, the output resistance decreases or even fails. Without a mechanical connection, the driver will instantly lose steering resistance. If the driver is steering at this point, the steering wheel will instantly increase its angle, and the steering gear will react to this angle input, causing the vehicle to swerve rapidly or even become unstable.

[0005] In summary, the existing mechanical redundant road feel simulation structure is complex and adds planetary gears, shock absorbers, torsion springs, nuts, screws, electromagnetic clutches and other structures, which increases the cost of the road feel simulator, makes the structure larger, and requires more layout space. At the same time, a more complex mechanical structure will inevitably bring higher quality risks, such as problems such as abnormal noise from the screw. In addition, because the mechanical redundant road feel simulation structure and electronic road feel simulation work simultaneously, the influence of road feel simulation control needs to be considered during electronic road feel simulation, and the control logic is more complicated. Summary of the Invention

[0006] The present invention provides a redundant road feel simulation device and control method, which compensates for the driver's discomfort caused by loss of road feel in an emergency situation, prevents the safety risks caused by the driver's large-angle steering when the road feel simulator suddenly fails, and solves the above-mentioned problems existing in existing steering systems.

[0007] The technical solution of the present invention is described as follows in conjunction with the accompanying drawings:

[0008] In a first aspect, the present application provides a redundant road feeling simulation device, comprising a pressing block 1, a road feeling simulator shell 2, a rotating shaft 3, a pressing block spring 4, a pressing block support seat 5, an electromagnetic chuck 6, a guide sleeve 8, an end plug nut 9 and a pressing block controller; the pressing block 1 is arranged in the road feeling simulator shell 2; the circular arc surface of the pressing block 1 is attached to the rotating shaft 3; the pressing block spring 4 is arranged between the pressing block 1 and the electromagnetic chuck 6; the outer surface of the pressing block 1 and the electromagnetic chuck 6 is provided with the guide sleeve 8; the guide sleeve 8 is coaxially interference-fitted with the road feeling simulator shell 2; the end plug nut 9 is arranged on the road feeling simulator shell 2; the rear end of the pressing block support seat 5 is fixed through the end plug nut 9; the pressing block controller is connected with the electromagnetic chuck 6 through a wire harness 12.

[0009] Further, a blind hole is formed in the tail of the pressing block 1; the pressing block spring 4 is arranged in the blind hole.

[0010] Further, the electromagnetic chuck 6 is connected with the pressing block support seat 5 through a fixing bolt 7.

[0011] Further, the pressing block 1 and the pressing block support seat 5 are coaxially arranged.

[0012] Further, the guide sleeve 8 is made of non-metallic material.

[0013] Further, an O-ring 10 is arranged between the lower end of the end plug nut 9 and the end face of the guide sleeve 8.

[0014] Further, a hole is formed in the end plug nut 9, and a wire harness protection sleeve 11 is interference-fitted in the hole; the wire harness 12 passes through the wire harness protection sleeve 11, one end of which is connected with the electromagnetic chuck 6, and the other end of which is connected with the pressing block controller in the road feeling simulator.

[0015] In a second aspect, the present application provides a control method of a redundant road feeling simulation device, which is realized by a redundant road feeling simulation device, comprising the following steps:

[0016] judging the state of the electronic road feeling simulator; if the electronic road feeling simulator is in a usable state, the road feeling simulation is performed by the electronic road feeling simulator, and the redundant road feeling simulation device does not intervene in the work; if the electronic road feeling simulator is in an unusable state, the redundant road feeling simulation device intervenes in the work;

[0017] after the redundant road feeling simulation device intervenes in the work, determining the friction force F required by the current state;

[0018] The pressure block controller consults the interpolation table based on the vehicle speed signal, angle signal, torque signal, angular velocity signal and the preset road feel simulation requirements under the current working conditions to obtain the current value I required by the electromagnetic suction cup 6, thereby changing the magnetic force of the electromagnetic suction cup 6 and the elastic force of the pressure block spring 4. Ultimately, the friction force F1 between the pressure block 1 and the rotating shaft 3 is the same as the friction force F required in the current state.

[0019] Furthermore, the friction force F1 between the pressing block 1 and the rotating shaft 3 is obtained by the following formula:

[0020] F1=u*(F 弹 +F 磁 );

[0021] Wherein, u is the friction coefficient between the pressing block and the rotating shaft;

[0022] F 弹 The elastic force generated by the pressure block spring;

[0023] F 磁 The magnetic force generated by the electromagnet chuck.

[0024] Furthermore, the F 弹 It is obtained by the following formula:

[0025] F 弹 =F0+k*S;

[0026] Among them, F0 is the initial elastic force of the pressure block spring;

[0027] k is the elastic coefficient of the pressure block spring;

[0028] S is the distance the briquette moves forward;

[0029] The F 磁 It is obtained by the following formula:

[0030] F 磁 =a*(I*W)2;

[0031] Among them, a is a parameter related to the coil cross-sectional area, core material, and air gap;

[0032] I is the current value required by the electromagnet chuck;

[0033] W is the number of coil turns.

[0034] The beneficial effects of the present invention are:

[0035] The present invention adds an electromagnetic suction cup to the road feel simulator. The electromagnetic suction cup is controlled by a pressure block controller, which is integrated into the road feel simulator controller. When the road feel simulator motor fails and cannot provide steering resistance, the pressure block controller controls the magnetism of the electromagnetic suction cup to change by calling the relevant signal of the steering actuator. The change in magnetism changes the degree of attraction of the electromagnet. A pressure block spring is provided between the electromagnets. As the electromagnet opens, a variable and continuous pressure block friction force is provided to achieve continuously variable steering resistance. In an emergency, this compensates for the driver's discomfort caused by the loss of road feel and prevents the safety risks caused by the driver's large-angle steering when the road feel simulator suddenly fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 This is a schematic structural diagram of a redundant road feel simulation device according to the present invention;

[0038] Figure 2 The figure is a flow chart of a control method of a redundant road feel simulation device according to the present invention.

[0039] In the picture:

[0040] 1. Briquetting;

[0041] 2. Road feel simulator housing;

[0042] 3. Rotation axis;

[0043] 4. Pressure block spring;

[0044] 5. Block support seat;

[0045] 6. Electromagnetic chuck;

[0046] 7. Fixing bolts;

[0047] 8. Guide sleeve;

[0048] 9. End plug nut

[0049] 10. O-ring;

[0050] 11. Wire harness protective cover;

[0051] 12. Wiring harness. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0053] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0054] Example 1

[0055] See Figure 1 A redundant road feel simulation device includes a pressure block 1, a road feel simulator housing 2, a rotating shaft 3, a pressure block spring 4, a pressure block support seat 5, an electromagnetic suction cup 6, a fixing bolt 7, a guide sleeve 8, an end plug nut 9 and a pressure block controller.

[0056] The pressure block 1 is arranged in the road feel simulator housing 2; the arc-shaped surface of the pressure block 1 is in contact with the rotating shaft 3; a blind hole is opened at the tail of the pressure block 1; and the pressure block spring 4 is arranged in the blind hole.

[0057] The pressure block 1 is supported by a pressure block support seat 5 and is coaxially arranged; an electromagnetic suction cup 6 is fixed to the front of the pressure block support seat 5; the rear end of the pressure block support seat 5 is fixed to the road feel simulator housing 2; a guide sleeve 8 made of non-metallic material is provided on the outside of the pressure block 1; the guide sleeve 8 is coaxially interference fit with the road feel simulator housing 2; the oil-tightening threaded hole on the road feel simulator housing 2 is used to install the end plug nut 9; the electromagnetic suction cup 6 is connected to the pressure block support seat 5 through the hexagon socket bolt 7. An O-ring 10 is provided between the lower end of the end plug nut 9 and the end face of the guide sleeve 8 to eliminate gaps and noise. A hole is opened on the end plug nut 9, and a wiring harness protective cover 11 is interference fit in the hole to play a sealing role; the wiring harness 12 passes through the wiring harness protective cover 11, one end of which is connected to the electromagnetic suction cup 6 and the other end is connected to the pressure block controller in the road feel simulator. The pressure block controller is integrated on the controller PCB board of the road feel simulator and can be used to control the current size and direction of the electromagnetic suction cup 6 on the pressure block support seat 5; the input signal of the pressure block controller includes the working status of the road feel simulator, the vehicle speed signal, and the angle signal, and the output signal is the control current and current direction.

[0058] Example 2

[0059] See Figure 2A control method for a redundant road feel simulation device is implemented by a redundant road feel simulation device, comprising the following steps:

[0060] Step 1: Determine the status of the electronic road feel simulator; if the electronic road feel simulator is in an available state, the electronic road feel simulator performs simulation, and the redundant road feel simulation device does not intervene; if the electronic road feel simulator is in an unavailable state, the redundant road feel simulation device intervenes;

[0061] The electronic road feel simulator sends the status of the electronic road feel simulator to the CAN bus.

[0062] Step 2: If the redundant road feel simulation device is engaged, determine the friction force F required for the current state;

[0063] Step three, the pressure block controller consults the difference table to obtain the current value I required by the electromagnet suction cup 6 based on the vehicle speed signal, angle signal, torque signal, angular velocity signal and the pre-set road feel simulation requirements under the current working conditions. The difference table can be debugged and calibrated to obtain a reasonable correspondence between the parameters and stored in the controller. The current I of the electromagnet suction cup 6 on the pressure block support seat 5 changes, resulting in a change in the magnetic field strength, which in turn causes the magnetic force between the pressure block 1 and the pressure block support seat 5 to change. The electromagnet suction cup 6 of the pressure block support seat 5 applies a force along the axis to the pressure block 1. This magnetic force pushes the pressure block 1 to move a distance S. After the pressure block 1 moves, the pressure block spring 4 is compressed or released, and the elastic force changes. The combined force of the magnetic force and the elastic force causes the friction force between the pressure block 1 and the rotating shaft 3 to change. Ultimately, the change in friction force makes the road feel simulation adjustable.

[0064] The friction force F1 between the pressing block 1 and the rotating shaft 3 is obtained by the following formula:

[0065] F1=u*(F 弹 +F 磁 );

[0066] Wherein, u is the friction coefficient between the pressing block and the rotating shaft;

[0067] F 弹 The elastic force generated by the pressure block spring;

[0068] F 磁 The magnetic force generated by the electromagnet chuck.

[0069] Furthermore, the F 弹 It is obtained by the following formula:

[0070] F 弹 =F0+k*S;

[0071] Among them, F0 is the initial elastic force of the pressure block spring;

[0072] k is the elastic coefficient of the pressure block spring;

[0073] S is the distance the briquette moves forward;

[0074] The F 磁 It is obtained by the following formula:

[0075] F 磁 =a*(I*W)2;

[0076] Among them, a is a parameter related to the coil cross-sectional area, core material, and air gap;

[0077] I is the current value required by the electromagnet chuck;

[0078] W is the number of coil turns.

[0079] In summary, the present invention adds an electromagnetic suction cup to the road feel simulator, and the electromagnetic suction cup is controlled by a pressure block controller, which is integrated into the road feel simulator controller. When the road feel simulator motor fails and cannot provide steering resistance, the pressure block controller controls the magnetism of the electromagnetic suction cup to change by calling the relevant signal of the steering actuator. The change in magnetism changes the degree of attraction of the electromagnet. A pressure block spring is provided between the electromagnets. As the electromagnet opens, a variable and continuous pressure block friction force is provided to achieve continuously variable steering resistance. In an emergency, it compensates for the driver's discomfort caused by the loss of road feel and prevents safety risks caused by the driver's large-angle steering when the road feel simulator suddenly fails.

[0080] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention.

[0081] Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the attached claims.

Claims

1. A redundant road feel simulation device, characterized in that: The invention comprises a pressure block (1), a road feeling simulator housing (2), a rotating shaft (3), a pressure block spring (4), a pressure block support seat (5), an electromagnetic suction cup (6), a guide sleeve (8), an end plug nut (9) and a pressure block controller; the pressure block (1) is arranged in the road feeling simulator housing (2); the arc-shaped surface of the pressure block (1) is in contact with the rotating shaft (3); the pressure block spring (4) is arranged between the pressure block (1) and the electromagnetic suction cup (6); a guide sleeve (8) is arranged outside the pressure block (1) and the electromagnetic suction cup (6); the guide sleeve (8) and the road feeling simulator housing (2) are coaxially interference-fitted; an end plug nut (9) is arranged on the road feeling simulator housing (2); the rear end of the pressure block support seat (5) is fixed by the end plug nut (9); the pressure block controller is connected to the electromagnetic suction cup (6) via a wiring harness (12); The tail of the pressure block (1) is provided with a blind hole; the pressure block spring (4) is arranged in the blind hole; The electromagnetic chuck (6) is connected to the pressure block support seat (5) via a fixing bolt (7); The pressing block (1) and the pressing block support seat (5) are coaxially arranged; The guide sleeve (8) is made of non-metallic material; An O-ring (10) is provided between the lower end of the end plug nut (9) and the end surface of the guide sleeve (8); The end plug nut (9) is provided with a hole, and a wiring harness protective cover (11) is interference-fitted in the hole; the wiring harness (12) passes through the wiring harness protective cover (11), one end of which is connected to the electromagnet sucker (6), and the other end of which is connected to the pressure block controller in the road feel simulator.

2. A control method for a redundant road feel simulation device, implemented by the redundant road feel simulation device according to claim 1, characterized in that: The following steps are involved: Determine the status of the electronic road feel simulator; if the electronic road feel simulator is in an available state, the electronic road feel simulator performs road feel simulation, and the redundant road feel simulation device does not intervene; if the electronic road feel simulator is in an unavailable state, the redundant road feel simulation device intervenes; After the redundant road feel simulation device intervenes, it determines the friction force F required for the current state; The pressure block controller consults the interpolation table to obtain the current value I required by the electromagnet suction cup (6) based on the vehicle speed signal, the rotation angle signal, the torque signal, the rotation angle velocity signal and the road feeling simulation requirement under the preset current working condition, thereby changing the magnetic force of the electromagnet suction cup (6) and the elastic force of the pressure block spring (4), and finally making the friction force F1 between the pressure block (1) and the rotating shaft (3) the same as the friction force F required in the current state; The friction force F1 between the pressing block (1) and the rotating shaft (3) is obtained by the following formula: F1=u*(F 弹 +F 磁 ); Wherein, u is the friction coefficient between the pressing block and the rotating shaft; F 弹 The elastic force generated by the pressure block spring; F 磁 The magnetic force generated by the electromagnet chuck; The F 弹 It is obtained by the following formula: F 弹 =F0+k*S; Among them, F0 is the initial elastic force of the pressure block spring; k is the elastic coefficient of the pressure block spring; S is the distance the briquette moves forward; The F 磁 It is obtained by the following formula: F 磁 =a*(I*W) 2 ; Among them, a is a parameter related to the coil cross-sectional area, core material, and air gap; I is the current value required by the electromagnet chuck; W is the number of coil turns.

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