A non-contact loading system, a steering system test bench and a control method

Abstract

The present disclosure provides a non-contact loading system, a steering system test bench and a control method, wherein the non-contact loading system comprises: a transmission device, the transmission device comprising: a rotor and a mover, the mover being sleeved on the rotor in the axial direction of the rotor, and an air gap being arranged between the mover and the rotor, and the mover and the rotor being connected through magnetic thread transmission; a driving device, the driving device being connected with the rotor in transmission, and the driving device being used to drive the rotor to rotate, so that the mover moves in the axial direction of the rotor; and a control device, the control device being used to detect the displacement of the mover and the actual load force, and correct the torque of the driving device according to the reference load force, the displacement and the actual load force. In the non-contact loading system, the steering system test bench and the control method of the present disclosure, the mechanical transmission part in the transmission device is cancelled, thereby greatly improving the efficiency and reliability of the loading system and reducing the use cost of the loading system.

Description

Technical Field

[0001] This disclosure relates to the field of steering system testing technology, and in particular to a non-contact loading system, a steering system test bench, and a control method. Background Technology

[0002] The steering system is the core execution system of a vehicle, and its performance has a significant impact on the vehicle's handling stability. In order to further improve the handling stability of the vehicle, active steering systems have been rapidly developed.

[0003] Active steering systems require performance testing using a loading system. Currently, the transmission components in loading systems are mostly mechanical. However, mechanical transmission inevitably causes mechanical power loss, resulting in low efficiency of the loading system. The inherent characteristics of mechanical transmission, such as friction, wear, aging, and jamming, also affect the performance of the loading system, leading to reduced reliability. In addition, the loading system requires regular inspection, maintenance, and upkeep, increasing operating costs. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the purpose of this disclosure is to provide a non-contact loading system, a steering system test bench, and a control method.

[0006] To achieve the above objectives, the first aspect of this disclosure provides a non-contact loading system, comprising: a transmission device, the transmission device including: a rotor and a mover, the mover being slidably sleeved on the rotor along the axial direction of the rotor, and an air gap being provided between the mover and the rotor, the mover and the rotor being connected by a magnetic thread drive; a drive device, the drive device being drively connected to the rotor, and the drive device being used to drive the rotor to rotate, thereby causing the mover to move along the axial direction of the rotor; and a control device, the control device being used to detect the displacement of the mover and the actual load force, and to correct the torque of the drive device according to a reference load force, the displacement, and the actual load force.

[0007] Optionally, the transmission device further includes: a first magnetic conductor, which is spirally arranged on the outside of the rotor; a second magnetic conductor, which is spirally arranged on the inside of the mover; a first permanent magnet array, which is spirally arranged on the inside of the mover, and the magnetic pole direction of the first permanent magnet array is located in the radial direction of the rotor; and a second permanent magnet array, which is spirally arranged on the inside of the mover, and the second permanent magnet array and the first permanent magnet array are distributed at intervals along the axial direction of the rotor through the second magnetic conductor, and the magnetic pole direction of the second permanent magnet array is opposite to that of the first permanent magnet array.

[0008] Optionally, the transmission device further includes: a third permanent magnet array, which is spirally arranged on the outside of the rotor, and the magnetic pole direction of the third permanent magnet array is located in the radial direction of the rotor; a fourth permanent magnet array, which is spirally arranged on the outside of the rotor, and the fourth permanent magnet array and the third permanent magnet array are spaced apart along the axial direction of the rotor, and the magnetic pole direction of the fourth permanent magnet array is opposite to that of the third permanent magnet array; a fifth permanent magnet array, which is spirally arranged on the inside of the mover, and the magnetic pole direction of the fifth permanent magnet array is located in the radial direction of the rotor; and a sixth permanent magnet array, which is spirally arranged on the inside of the mover, and the sixth permanent magnet array and the fifth permanent magnet array are spaced apart along the axial direction of the rotor, and the magnetic pole direction of the sixth permanent magnet array is opposite to that of the fifth permanent magnet array.

[0009] Optionally, the control device includes: a disturbance observation module, which obtains the lumped disturbance term of the non-contact loading system based on the displacement and the actual load force; a state constraint module, which obtains the quantized constraint conditions of the non-contact loading system based on the reference load force of the mover; a load force control module, whose input is connected to the output of the state constraint module, and which obtains the reference torque of the drive device based on the actual load force, the reference load force, and the quantized constraint conditions; a control correction module, whose input is connected to the output of the disturbance observation module and the output of the load force control module, and which obtains the corrected torque of the drive device based on the lumped disturbance term and the reference torque; and a drive control module, whose input is connected to the output of the control correction module, and which controls the drive device to drive the rotor to rotate using the corrected torque.

[0010] Optionally, the control device further includes: a detection module, the detection end of which is connected to the mover, the detection module being used to acquire the displacement and the actual load force; and a filtering module, the first input end of which is connected to the detection end of the detection module, the second input end of which is used to input the reference load force, and the output end of which is connected to the input end of the disturbance observation module, the input end of the state constraint module, and the input end of the load force control module, respectively.

[0011] A second aspect of this disclosure provides a steering system test bench, comprising: at least one non-contact loading system as provided in the first aspect of this disclosure, wherein a mover in the non-contact loading system is drive-connected to the steering end of the steering system; and a simulation platform, wherein the output end of the simulation platform is connected to the input end of the control device in the non-contact loading system and the input end of the steering system, respectively.

[0012] A third aspect of this disclosure provides a control method based on a non-contact loading system as provided in the first aspect of this disclosure. The control method includes: obtaining a lumped disturbance term of the non-contact loading system based on the displacement of a mover and the actual load force; obtaining quantized constraint conditions of the non-contact loading system based on a reference load force of the mover; obtaining a reference torque of a drive device in the non-contact loading system based on the actual load force, the reference load force, and the quantized constraint conditions; obtaining a corrected torque of the drive device based on the lumped disturbance term and the reference torque; and controlling the drive device to drive the rotor of the non-contact loading system to rotate using the corrected torque.

[0013] Optionally, obtaining the lumped disturbance term of the non-contact loading system based on the displacement of the moving part and the actual load force in the non-contact loading system includes: establishing a mathematical model of the non-contact loading system according to a first formula; and obtaining the lumped disturbance term based on the displacement, the actual load force, the mathematical model, and a second formula. The first formula is: ; Among them, the It is the actual load force, the It is the first derivative term of the actual load force, the It is the rotational speed of the drive device, the It is the first derivative of the rotational speed of the drive device, the It is the displacement, the It is the first derivative term of the displacement, the It is the lead of the rotor or the mover, the It is the thrust coefficient of the mover, the It is the torque of the drive device, the It is the moment of inertia of the drive device, the It is the coefficient of friction of the drive device, the It is the lumped disturbance term; The second formula is: ; Among them, the It is an estimated value of the actual load force, the It is an estimate of the first derivative term of the actual load force. It is an estimated value of the rotational speed of the drive device, the It is an estimate of the first derivative term of the rotational speed of the drive device. It is the estimated value of the lumped disturbance term, the It is an estimate of the first derivative of the lumped disturbance term, the... It is a normal number.

[0014] Optionally, obtaining the quantitative constraint conditions of the non-contact loading system based on the reference load force of the mover includes: obtaining the quantitative constraint conditions of the non-contact loading system based on the reference load force and the third formula; The third formula includes: ; Among them, the It is the reference load force, the It is the reference rotational speed of the drive device, the It is the load force error of the non-contact loading system, the It is the speed error of the drive device, the It is the load force funnel constraint function of the non-contact loading system, the and stated They are the aforementioned The initial and final values, the It is the aforementioned The convergence rate, the It is the speed funnel constraint function of the drive device, the and stated They are the aforementioned The initial and final values, the It is the aforementioned The convergence rate.

[0015] Optionally, obtaining the reference torque of the drive device in the non-contact loading system based on the actual load force, the reference load force, and the quantization constraint conditions includes: obtaining the reference torque of the drive device based on the actual load force, the reference load force, the quantization constraint conditions, and the fourth formula; The fourth formula is: ; Among them, the It is the reference torque, the And the It is the load force linear control gain of the non-contact loading system, the And the It is the nonlinear control gain of the non-contact loading system, the And the It is a positive constant, the stated And the It is the linear control gain of the rotational speed of the drive device, the And the It is the nonlinear control gain of the rotational speed of the drive device, the And the It is a positive constant, the stated And the It is the aforementioned The error after funnel performance transformation, the And the It is the aforementioned The error after funnel performance transformation, the And the It is an intermediate variable, the one mentioned And the It is an intermediate variable.

[0016] The technical solution provided in this disclosure may include the following beneficial effects: Because the mover and rotor are connected by a magnetic thread drive, and an air gap is provided between them, the transmission device constitutes a non-contact transmission structure. This eliminates the mechanical transmission part in the transmission device, thereby eliminating the transmission impact problem caused by transmission gaps in mechanical transmission. As a result, unnecessary power loss caused by mechanical transmission is avoided, thus significantly improving the efficiency of the loading system. It also fundamentally eliminates the low reliability problems caused by the inherent friction, wear, aging, and jamming characteristics of mechanical transmission, thus significantly improving the reliability of the loading system. Furthermore, it avoids the need for regular mechanical inspection, maintenance, and upkeep of mechanical transmission, thus significantly reducing the operating cost of the loading system.

[0017] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of the structure of a non-contact loading system proposed in an embodiment of this disclosure; Figure 2This is a schematic diagram of the transmission device in a non-contact loading system according to an embodiment of this disclosure; Figure 3 This is a schematic diagram of the transmission device in a non-contact loading system according to an embodiment of this disclosure; Figure 4 This is a circuit diagram of the control device in a non-contact loading system according to an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of a steering system test bench according to an embodiment of the present disclosure; Figure 6 This is a schematic flowchart of a control method proposed in an embodiment of the present disclosure; As shown in the figure: 1. Transmission device, 101. Rotor, 102. Mover, 103. First magnetic conductor, 104. Second magnetic conductor, 105. First permanent magnet array, 106. Second permanent magnet array, 107. Third permanent magnet array, 108. Fourth permanent magnet array, 109. Fifth permanent magnet array, 110. Sixth permanent magnet array, 111. Air gap; 2. Drive unit; 3. Control device; 31. Disturbance observation module; 32. State constraint module; 33. Load force control module; 34. Control correction module; 35. Drive control module; 36. Detection module; 37. Filtering module. 4. Simulation platform; 5. Steering system. Detailed Implementation

[0019] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0020] like Figure 1 As shown, this disclosure proposes a non-contact loading system, including: a transmission device 1, a drive device 2, and a control device 3. The transmission device 1 includes: a rotor 101 and a mover 102. The mover 102 is slidably sleeved on the rotor 101 along the axial direction of the rotor 101, and an air gap 111 is provided between the mover 102 and the rotor 101. The mover 102 and the rotor 101 are connected by a magnetic thread drive. The drive device 2 is drivenly connected to the rotor 101, and the drive device 2 is used to drive the rotor 101 to rotate so that the mover 102 moves along the axial direction of the rotor 101. The control device 3 is used to detect the displacement of the mover 102 and the actual load force, and to correct the torque of the drive device 2 according to the reference load force, displacement, and actual load force.

[0021] It is understandable that, since the mover 102 and the rotor 101 are connected by a magnetic thread drive, when the drive device 2 drives the rotor 101 to rotate, the rotor 101 can drive the mover 102 to move along the axial direction of the rotor 101. Thus, when the mover 102 is connected to the steering end of the steering system 5, the loading system can provide load force to the steering system 5, thereby meeting the loading test requirements of the steering system 5. At the same time, due to the magnetic drive between the mover 102 and the rotor 101, the loading system has a certain overload protection capability, thereby ensuring the stability and safety of the loading test of the steering system 5.

[0022] Moreover, since the control device 3 can correct the torque of the drive device 2 based on the reference load force, displacement and actual load force, the loading system can achieve closed-loop control, thereby greatly improving the loading test accuracy of the steering system 5.

[0023] Since the mover 102 and the rotor 101 are connected by magnetic thread transmission and an air gap 111 is provided between the mover 102 and the rotor 101, the transmission device 1 constitutes a non-contact transmission structure, thereby eliminating the mechanical transmission part in the transmission device 1 and thus eliminating the transmission impact problem caused by the transmission gap in the mechanical transmission.

[0024] This avoids unnecessary power loss caused by mechanical transmission, thus significantly improving the efficiency of the loading system; it fundamentally eliminates the low reliability problems caused by the inherent friction, wear, aging, and jamming characteristics of mechanical transmission, thus significantly improving the reliability of the loading system; and it avoids the need for regular mechanical inspection, maintenance, and upkeep of mechanical transmission, thus significantly reducing the operating cost of the loading system.

[0025] It should be noted that the rotor 101 is used to drive the mover 102 to move along the axial direction of the rotor 101 under the drive of the drive device 2. The specific type of the rotor 101 can be set according to actual needs and there is no limitation thereto. For example, the rotor 101 can be a shaft structure, and the rotor 101 and the output shaft of the drive device 2 are coaxially connected through a coupling.

[0026] The mover 102 is used to move along the axial direction of the rotor 101 under the drive of the rotor 101. The specific type of the mover 102 can be set according to actual needs and is not limited thereto. For example, the mover 102 can be a hollow shaft structure with one end closed and the other end open. The open end of the mover 102 is set close to the drive device 2. The open end of the mover 102 is slidably set in the housing of the transmission device 1 through a sliding sleeve, sliding rail, etc. The central axis of the mover 102 coincides with the central axis of the rotor 101.

[0027] The drive device 2 is used to drive the rotor 101 to rotate under the control of the control device 3. The specific type of the drive device 2 can be set according to actual needs and is not limited thereto. For example, the drive device 2 can be a motor. The housing of the motor is connected to the housing of the transmission device 1. The output shaft of the motor passes through the housing of the transmission device 1 and is coaxially connected to the rotor 101.

[0028] The control device 3 is used to detect the displacement and actual load force of the mover 102, and also to correct the torque of the drive device 2 based on the reference load force, displacement and actual load force. The specific type of the control device 3 can be set according to actual needs and is not limited thereto. For example, the control device 3 can be a controller, microcontroller, etc.

[0029] The magnetic threaded transmission between the mover 102 and the rotor 101 refers to a transmission method that uses magnetic force to achieve a threaded transmission between the mover 102 and the rotor 101, that is, the rotating rotor 101 uses magnetic force to drive the mover 102 to move in a straight line. The magnetic threaded transmission method between the mover 102 and the rotor 101 can be set according to actual needs and is not limited thereto.

[0030] like Figure 2 As shown, in some embodiments, the transmission device 1 further includes: a first magnetic conductor 103, a second magnetic conductor 104, a first permanent magnet array 105, and a second permanent magnet array 106. The first magnetic conductor 103 is spirally disposed on the outside of the rotor 101, the second magnetic conductor 104 is spirally disposed on the inside of the mover 102, the first permanent magnet array 105 is spirally disposed on the inside of the mover 102, and the magnetic pole direction of the first permanent magnet array 105 is located in the radial direction of the rotor 101. The second permanent magnet array 106 is spirally disposed on the inside of the mover 102, and the second permanent magnet array 106 and the first permanent magnet array 105 are distributed at intervals along the axial direction of the rotor 101 through the second magnetic conductor 104. The magnetic pole direction of the second permanent magnet array 106 is opposite to that of the first permanent magnet array 105.

[0031] It is understandable that, since the magnetic pole direction of the first permanent magnet array 105 is located in the radial direction of the rotor 101, and the magnetic pole direction of the second permanent magnet array 106 is opposite to that of the first permanent magnet array 105, the first permanent magnet array 105 and the second permanent magnet array 106 form a radially magnetized structure with opposite magnetization directions. Furthermore, since the second permanent magnet array 106 and the first permanent magnet array 105 are distributed at intervals along the axial direction of the rotor 101 through the second magnetic conductor 104, the inner side of the mover 102 forms a "N pole-magnetic conductor-S pole" cyclic arrangement structure along the axial direction of the rotor 101. Thus, when the first magnetic conductor 103 rotates with the rotor 101, the first magnetic conductor 103 can use the principle of electromagnetic induction to drive the second permanent magnet array 106, the second magnetic conductor 104 and the first permanent magnet array 105 to move along the axial direction of the rotor 101, thereby driving the mover 102 to move along the axial direction of the rotor 101.

[0032] It should be noted that both the first magnetic conductor 103 and the second magnetic conductor 104 are magnetic conductors. The specific types of the first magnetic conductor 103 and the second magnetic conductor 104 can be set according to actual needs and there are no restrictions. For example, both the first magnetic conductor 103 and the second magnetic conductor 104 can be made of iron material. The central axis of the first magnetic conductor 103 and the central axis of the second magnetic conductor 104 coincide with the central axis of the rotor 101.

[0033] The specific type of the first permanent magnet array 105 can be set according to actual needs and is not limited thereto. For example, the first permanent magnet array 105 can be composed of multiple first permanent magnets arranged in a spiral shape, and the magnetic pole direction of the first permanent magnets is located in the radial direction of the rotor 101. The central axis of the first permanent magnet array 105 coincides with the central axis of the rotor 101.

[0034] The specific type of the second permanent magnet array 106 can be set according to actual needs and is not limited thereto. For example, the second permanent magnet array 106 can be composed of multiple second permanent magnets arranged in a spiral shape, and the magnetic pole direction of the second permanent magnets is located in the radial direction of the rotor 101. The central axis of the second permanent magnet array 106 coincides with the central axis of the rotor 101.

[0035] Among them, the magnetic poles of the first permanent magnet and the second permanent magnet are opposite in direction, and the structure arranged along the axial direction of the rotor 101 on the inner side of the mover 102 is "N pole-magnetic conductor-S pole-N pole-magnetic conductor-S pole-N pole-magnetic conductor-S pole......".

[0036] like Figure 3As shown, in some embodiments, the transmission device 1 further includes: a third permanent magnet array 107, a fourth permanent magnet array 108, a fifth permanent magnet array 109, and a sixth permanent magnet array 110. The third permanent magnet array 107 is spirally arranged on the outside of the rotor 101, and the magnetic pole direction of the third permanent magnet array 107 is located in the radial direction of the rotor 101. The fourth permanent magnet array 108 is spirally arranged on the outside of the rotor 101, and the fourth permanent magnet array 108 and the third permanent magnet array 107 are spaced apart along the axial direction of the rotor 101. The magnetic pole direction of the permanent magnet array 108 is opposite to that of the third permanent magnet array 107. The fifth permanent magnet array 109 is spirally arranged inside the mover 102, and the magnetic pole direction of the fifth permanent magnet array 109 is located in the radial direction of the rotor 101. The sixth permanent magnet array 110 is spirally arranged inside the mover 102, and the sixth permanent magnet array 110 and the fifth permanent magnet array 109 are distributed at intervals along the axial direction of the rotor 101. The magnetic pole direction of the sixth permanent magnet array 110 is opposite to that of the fifth permanent magnet array 109.

[0037] It is understandable that, since the magnetic pole direction of the third permanent magnet array 107 is located in the radial direction of the rotor 101, and the magnetic pole direction of the fourth permanent magnet array 108 is opposite to that of the third permanent magnet array 107, the third permanent magnet array 107 and the fourth permanent magnet array 108 form a radially magnetized structure with opposite magnetization directions. Furthermore, since the fourth permanent magnet array 108 and the third permanent magnet array 107 are distributed at intervals along the axial direction of the rotor 101, the outer side of the rotor 101 forms an alternating arrangement of "N pole" and "S pole" along the axial direction of the rotor 101.

[0038] Since the magnetic pole direction of the fifth permanent magnet array 109 is located in the radial direction of the rotor 101, and the magnetic pole direction of the sixth permanent magnet array 110 is opposite to that of the fifth permanent magnet array 109, the fifth permanent magnet array 109 and the sixth permanent magnet array 110 form a radially magnetized structure with opposite magnetization directions. Furthermore, since the sixth permanent magnet array 110 and the fifth permanent magnet array 109 are distributed at intervals along the axial direction of the rotor 101, the inner side of the mover 102 forms an alternating arrangement of "N pole" and "S pole" along the axial direction of the rotor 101.

[0039] Therefore, when the third permanent magnet array 107 and the fourth permanent magnet array 108 rotate with the rotor 101, the third permanent magnet array 107 and the fourth permanent magnet array 108 can use the principle of electromagnetic induction to drive the fifth permanent magnet array 109 and the sixth permanent magnet array 110 to move along the axial direction of the rotor 101, thereby driving the mover 102 to move along the axial direction of the rotor 101.

[0040] It should be noted that the specific type of the third permanent magnet array 107 can be set according to actual needs, and there is no limitation thereto. For example, the third permanent magnet array 107 can be composed of multiple third permanent magnets arranged in a spiral shape, and the magnetic pole direction of the third permanent magnets is located in the radial direction of the rotor 101. The central axis of the third permanent magnet array 107 coincides with the central axis of the rotor 101.

[0041] The specific type of the fourth permanent magnet array 108 can be set according to actual needs and is not limited thereto. For example, the fourth permanent magnet array 108 can be composed of multiple fourth permanent magnets arranged in a spiral shape, and the magnetic pole direction of the fourth permanent magnets is located in the radial direction of the rotor 101. The central axis of the fourth permanent magnet array 108 coincides with the central axis of the rotor 101.

[0042] Among them, the magnetic poles of the third permanent magnet and the fourth permanent magnet are opposite in direction, and the structure arranged along the axial direction of the rotor 101 on the outside of the rotor 101 is "N pole-S pole-N pole-S pole-N pole-S pole......".

[0043] The specific type of the fifth permanent magnet array 109 can be set according to actual needs and is not limited thereto. For example, the fifth permanent magnet array 109 can be composed of multiple fifth permanent magnets arranged in a spiral shape, and the magnetic pole direction of the fifth permanent magnets is located in the radial direction of the rotor 101. The central axis of the fifth permanent magnet array 109 coincides with the central axis of the rotor 101.

[0044] The specific type of the sixth permanent magnet array 110 can be set according to actual needs and is not limited thereto. For example, the sixth permanent magnet array 110 can be composed of multiple sixth permanent magnets arranged in a spiral shape, and the magnetic pole direction of the sixth permanent magnets is located in the radial direction of the rotor 101. The central axis of the sixth permanent magnet array 110 coincides with the central axis of the rotor 101.

[0045] Among them, the magnetic poles of the fifth permanent magnet and the sixth permanent magnet are opposite in direction, and the structure arranged along the axial direction of the rotor 101 on the inner side of the mover 102 is "S pole-N pole-S pole-N pole-S pole-N pole......".

[0046] like Figure 4As shown, in some embodiments, the control device 3 includes: a disturbance observation module 31, a state constraint module 32, a load force control module 33, a control correction module 34, and a drive control module 35. The disturbance observation module 31 is used to obtain the lumped disturbance term of the non-contact loading system based on the displacement and the actual load force. The state constraint module 32 is used to obtain the quantized constraint conditions of the non-contact loading system based on the reference load force of the mover 102. The input terminal of the load force control module 33 is connected to the output terminal of the state constraint module 32. The load force control module 33 is used to obtain the reference torque of the drive device 2 based on the actual load force, the reference load force, and the quantized constraint conditions. The input terminal of the control correction module 34 is connected to the output terminal of the disturbance observation module 31 and the output terminal of the load force control module 33, respectively. The control correction module 34 is used to obtain the corrected torque of the drive device 2 based on the lumped disturbance term and the reference torque. The input terminal of the drive control module 35 is connected to the output terminal of the control correction module 34. The drive control module 35 is used to control the drive device 2 to drive the rotor 101 to rotate using the corrected torque.

[0047] It is understandable that the control device 3 obtains the lumped disturbance term based on the displacement of the mover 102 and the actual load force, and obtains the reference torque of the drive device 2 based on the reference load force and the actual load force. Then, it obtains the corrected torque of the drive device 2 based on the lumped disturbance term and the reference torque, and controls the drive device 2 to drive the rotor 101 to rotate using the corrected torque. Thus, the control device 3 adopts a load control method with constraint robust control as a whole to achieve torque correction of the drive device 2, thereby effectively improving the dynamic and steady-state control performance of the loading system and significantly improving the loading test accuracy of the steering system 5.

[0048] It should be noted that the specific types of the disturbance observation module 31, state constraint module 32, load force control module 33, control correction module 34, and drive control module 35 can be set according to actual needs, and there are no restrictions on this. For example, the disturbance observation module 31, state constraint module 32, load force control module 33, control correction module 34, and drive control module 35 can all be various calculation and processing modules in the control device 3.

[0049] The drive control module 35 can generate PWM (Pulse Width Modulation) drive control commands based on the reference torque, so as to drive the drive device 2 to operate using the PWM drive control commands.

[0050] The reference load force can be calculated by the simulation platform 4 based on the externally input control commands and the built-in vehicle model.

[0051] like Figure 1 and Figure 4As shown, in some embodiments, the control device 3 further includes a detection module 36 and a filtering module 37. The detection end of the detection module 36 is connected to the mover 102. The detection module 36 is used to acquire displacement and actual load force. The first input end of the filtering module 37 is connected to the detection end of the detection module 36. The second input end of the filtering module 37 is used to input the reference load force. The output end of the filtering module 37 is connected to the input end of the disturbance observation module 31, the input end of the state constraint module 32, and the input end of the load force control module 33, respectively.

[0052] It is understandable that by setting the detection module 36, the control device 3 can detect the displacement of the mover 102 and the actual load force of the mover 102, thereby ensuring the closed-loop control of the drive device 2 by the control device 3. By setting the filtering module 37, the displacement signal, the actual load force signal, and the reference load force signal can be filtered, thereby ensuring the stable control of the drive device 2 by the control device 3.

[0053] It should be noted that the detection module 36 is used to detect the displacement and actual load force of the mover 102. The specific type of the detection module 36 can be set according to actual needs and there is no limitation. For example, the detection module 36 can be a tension sensor, displacement sensor, strain gauge, etc.

[0054] The filtering module 37 is used to filter displacement signals, actual load force signals, and reference load force signals. The specific type of the filtering module 37 can be set according to actual needs and there are no restrictions on it.

[0055] like Figure 5 As shown, this disclosure also proposes a steering system test bench, including: at least one non-contact loading system as described in this disclosure and a simulation platform 4, wherein the mover 102 in the non-contact loading system is connected to the steering end of the steering system 5, and the output end of the simulation platform 4 is connected to the input end of the control device 3 in the non-contact loading system and the input end of the steering system 5, respectively.

[0056] It is understandable that, since the mover 102 and the rotor 101 are connected by a magnetic thread drive, when the drive device 2 drives the rotor 101 to rotate, the rotor 101 can drive the mover 102 to move along the axial direction of the rotor 101. Thus, when the mover 102 is connected to the steering end of the steering system 5, the loading system can provide load force to the steering system 5, thereby meeting the loading test requirements of the steering system 5. At the same time, due to the magnetic drive between the mover 102 and the rotor 101, the loading system has a certain overload protection capability, thereby ensuring the stability and safety of the loading test of the steering system 5.

[0057] Moreover, the simulation platform 4 uses the control device 3 to correct the torque of the drive device 2 based on the reference load force, displacement and actual load force, so that the loading system can achieve closed-loop control, thereby greatly improving the loading test accuracy of the steering system 5.

[0058] Since the mover 102 and the rotor 101 are connected by magnetic thread transmission and an air gap 111 is provided between the mover 102 and the rotor 101, the transmission device 1 constitutes a non-contact transmission structure, thereby eliminating the mechanical transmission part in the transmission device 1 and thus eliminating the transmission impact problem caused by the transmission gap in the mechanical transmission.

[0059] This avoids unnecessary power loss caused by mechanical transmission, thus significantly improving the efficiency of the loading system; it fundamentally eliminates the low reliability problems caused by the inherent friction, wear, aging, and jamming characteristics of mechanical transmission, thus significantly improving the reliability of the loading system; and it avoids the need for regular mechanical inspection, maintenance, and upkeep of mechanical transmission, thus significantly reducing the operating cost of the loading system.

[0060] It should be noted that the simulation platform 4 is used to control the steering system 5 and the control device 3. The specific type of the simulation platform 4 can be set according to actual needs and is not limited thereto. For example, the simulation platform 4 may include a host computer and a real-time simulator. The output terminal of the host computer is connected to the input terminal of the real-time simulator. The output terminal of the real-time simulator is connected to the input terminal of the filter module 37 and the input terminal of the ECU (Electronic Control Unit) in the steering system 5, respectively. The host computer can be used to input external control commands, and the real-time simulator can be used to input reference load force to the filter module 37.

[0061] The number of non-contact loading systems can be determined based on the number of reversing ends of the steering system 5, and there is no limit to this. For example, if the steering system 5 has two reversing ends that match the wheels, then the number of non-contact loading systems is also two.

[0062] The steering system 5 is used for changing the direction of the wheels in the vehicle. The specific type of the steering system 5 can be set according to actual needs and there is no restriction. For example, the steering system 5 can be a mechanical steering system, an electric power steering system, an active steering system, a steer-by-wire system, etc.

[0063] like Figure 6 As shown in the embodiments of this disclosure, a control method is also proposed. The control method is based on the non-contact loading system as described in the embodiments of this disclosure, and the control method includes: S1: Based on the displacement of the mover 102 and the actual load force in the non-contact loading system, obtain the lumped disturbance term of the non-contact loading system. S2: Based on the reference load force of the mover 102, obtain the quantitative constraint conditions of the non-contact loading system; S3: Based on the actual load force, reference load force, and quantification constraints, obtain the reference torque of the drive device 2 in the non-contact loading system; S4: Obtain the corrected torque of drive unit 2 based on the lumped disturbance term and the reference torque; S5: The control drive device 2 uses the corrected torque to drive the rotor 101 of the non-contact loading system to rotate.

[0064] It is understandable that the lumped disturbance term is obtained based on the displacement of the mover 102 and the actual load force, and the reference torque of the drive device 2 is obtained based on the reference load force and the actual load force. Thus, the corrected torque of the drive device 2 is obtained based on the lumped disturbance term and the reference torque, and the drive device 2 drives the rotor 101 to rotate using the corrected torque. Therefore, the load control method of constraint robust control is adopted as a whole to realize the torque correction of the drive device 2, thereby effectively improving the dynamic and steady-state control performance of the loading system and significantly improving the loading test accuracy of the steering system 5.

[0065] It should be noted that the control method can be implemented by the control device 3 in the loading system.

[0066] In some embodiments, in step S1, obtaining the lumped disturbance term of the non-contact loading system based on the displacement of the mover 102 and the actual load force in the non-contact loading system includes: A mathematical model of the non-contact loading system is established based on the first formula; The lumped disturbance term is obtained based on displacement, actual load force, mathematical model, and the second formula; The first formula is: ; in, It is the actual load capacity. It is the first derivative of the actual load force. It is the rotational speed of the drive unit. It is the first derivative of the rotational speed of the drive unit. It is displacement. It is the first derivative term of the displacement. It is the lead of rotor 101 or mover 102. It is the thrust coefficient of the mover 102. It is the torque of drive device 2. It is the moment of inertia of drive device 2. It is the coefficient of friction of drive device 2. It is a lumped disturbance term; The second formula is: ; in, It is an estimate of the actual load capacity. It is an estimate of the first derivative of the actual load force. It is an estimated value of the drive unit's rotational speed. It is an estimate of the first derivative of the drive unit's rotational speed. It is an estimate of the lumped disturbance term. It is an estimate of the first derivative of the lumped disturbance term. It is a normal number.

[0067] Understandably, a first formula is established using the actual load force of the mover 102, the rotational speed of the drive device 2, the displacement of the mover 102, the lead of the rotor 101 or the mover 102, the thrust coefficient of the mover 102, the torque of the drive device 2, the moment of inertia of the drive device 2, the friction coefficient of the drive device 2, and the lumped disturbance term to form a mathematical model. Furthermore, a second formula is established by combining the estimated value of the actual load force, the estimated value of the rotational speed of the drive device 2, and the estimated value of the lumped disturbance term to obtain the lumped disturbance term based on the displacement, the actual load force, the mathematical model, and the second formula, thereby meeting the torque correction requirements of the drive device 2.

[0068] In some embodiments, in step S2, obtaining the quantized constraint conditions of the non-contact loading system based on the reference load force of the mover 102 includes: The quantitative constraints of the non-contact loading system are obtained based on the reference load force and the third formula. The third formula includes: ; in, It is the reference load capacity. It is the reference speed of drive unit 2. It is the load force error of the non-contact loading system. It is the speed error of drive device 2. It is the load force funnel constraint function of the non-contact loading system. and They are Initial and final values, yes The convergence rate, It is the rotational speed funnel constraint function of drive device 2. and They are Initial and final values, yes The convergence rate.

[0069] It is understandable that a third formula is established using the reference load force, the reference speed of the drive device 2, the load force error of the non-contact loading system, the speed error of the drive device 2, the load force funnel constraint function of the non-contact loading system, and the speed funnel constraint function of the drive device 2. The quantitative constraint conditions of the non-contact loading system are obtained based on the reference load force and the third formula, so as to obtain the reference torque of the drive device 2 using the quantitative constraint conditions, thereby meeting the torque correction requirements of the drive device 2.

[0070] In some embodiments, in step S3, obtaining the reference torque of the drive device 2 in the non-contact loading system based on the actual load force, the reference load force, and the quantized constraint conditions includes: Based on the actual load force, reference load force, quantization constraints, and the fourth formula, the reference torque of the drive device 2 is obtained. The fourth formula is: ; in, This is the reference torque. and It is the load force linear control gain of the non-contact loading system. and It is the nonlinear control gain of the non-contact loading system. and It is a positive number. and It is the linear control gain of the rotational speed of drive unit 2. and It is the nonlinear control gain of the rotational speed of drive device 2. and It is a positive number. and yes Error after funnel performance transformation and yes Error after funnel performance transformation ,and It is an intermediate variable. and It is an intermediate variable.

[0071] It is understandable that the reference torque, the load force linear control gain of the non-contact loading system, the non-linear control gain of the non-contact loading system, the linear control gain of the speed of drive device 2, and the non-linear control gain of the speed of drive device 2 are utilized. Error after funnel performance transformation and The error after funnel performance transformation is used to establish the fourth formula, and the reference torque of drive device 2 is obtained by using the actual load force, reference load force, quantification constraint conditions and the fourth formula, thereby meeting the torque correction requirements of drive device 2.

[0072] In some embodiments, step S4, obtaining the corrected torque of the drive device 2 based on the lumped disturbance term and the reference torque, includes: Based on the lumped disturbance term, the reference torque, and the fifth formula, the corrected torque of the drive unit 2 is obtained; The fifth formula is: ; in, It is the corrected torque of the drive device 2.

[0073] It should be noted that in the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0074] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A non-contact loading system, characterized in that, include: A transmission device, comprising: a rotor and a mover, wherein the mover is slidably sleeved on the rotor along the axial direction of the rotor, and an air gap is provided between the mover and the rotor, and the mover and the rotor are connected by a magnetic thread drive. A drive device is connected to the rotor drive, and the drive device is used to drive the rotor to rotate so that the mover moves along the axial direction of the rotor; A control device is provided for detecting the displacement and actual load force of the mover, and for correcting the torque of the drive device based on the reference load force, the displacement, and the actual load force. The control device includes a disturbance observation module, a state constraint module, a load force control module, a control correction module, and a drive control module. The disturbance observation module obtains the lumped disturbance term of the non-contact loading system based on the displacement and the actual load force. The state constraint module establishes a third formula using the reference load force, the reference rotational speed of the drive device, the load force error of the non-contact loading system, the rotational speed error of the drive device, the load force funnel constraint function of the non-contact loading system, and the rotational speed funnel constraint function of the drive device. It then obtains the quantitative constraint conditions of the non-contact loading system based on the reference load force and the third formula. The load force control module... The input terminal of the control module is connected to the output terminal of the state constraint module. The load force control module is used to obtain the reference torque of the drive device based on the actual load force, the reference load force, and the quantization constraint conditions. The input terminal of the control correction module is connected to the output terminal of the disturbance observation module and the output terminal of the load force control module, respectively. The control correction module is used to obtain the correction torque of the drive device based on the lumped disturbance term and the reference torque. The input terminal of the drive control module is connected to the output terminal of the control correction module. The drive control module is used to control the drive device to drive the rotor to rotate using the correction torque.

2. The non-contact loading system according to claim 1, characterized in that, The transmission device also includes: The first magnetic conductor is spirally arranged on the outside of the rotor; The second magnetic conductor is spirally arranged inside the moving part; A first permanent magnet array is arranged in a spiral shape inside the rotor, and the magnetic poles of the first permanent magnet array are located in the radial direction of the rotor. The second permanent magnet array is spirally arranged inside the rotor, and the second permanent magnet array and the first permanent magnet array are distributed at intervals along the axial direction of the rotor through the second magnetic conductor. The magnetic pole direction of the second permanent magnet array is opposite to that of the first permanent magnet array.

3. The non-contact loading system according to claim 1, characterized in that, The transmission device also includes: The third permanent magnet array is arranged in a spiral shape on the outside of the rotor, and the magnetic pole direction of the third permanent magnet array is located in the radial direction of the rotor; The fourth permanent magnet array is spirally arranged on the outside of the rotor, and the fourth permanent magnet array and the third permanent magnet array are spaced apart along the axial direction of the rotor. The magnetic pole direction of the fourth permanent magnet array is opposite to that of the third permanent magnet array. The fifth permanent magnet array is arranged in a spiral shape inside the rotor, and the magnetic pole direction of the fifth permanent magnet array is located in the radial direction of the rotor. The sixth permanent magnet array is spirally arranged inside the rotor, and the sixth permanent magnet array and the fifth permanent magnet array are spaced apart along the axial direction of the rotor. The magnetic pole direction of the sixth permanent magnet array is opposite to that of the fifth permanent magnet array.

4. The non-contact loading system according to claim 1, characterized in that, The control device further includes: The detection module is connected to the moving part and is used to obtain the displacement and the actual load force. The filtering module has a first input terminal connected to the detection terminal of the detection module, a second input terminal for inputting the reference load force, and an output terminal connected to the input terminals of the disturbance observation module, the state constraint module, and the load force control module, respectively.

5. A steering system test bench, characterized in that, include: At least one non-contact loading system as described in any one of claims 1-4, wherein the mover in the non-contact loading system is drive-connected to the steering end of the steering system; The simulation platform has its output terminals connected to the input terminals of the control device in the non-contact loading system and the input terminals of the steering system, respectively.

6. A control method based on a non-contact loading system, characterized in that, The control method is based on the non-contact loading system as described in any one of claims 1-4, and the control method includes: Based on the displacement of the mover and the actual load force in the non-contact loading system, the lumped disturbance term of the non-contact loading system is obtained; Based on the reference load force of the mover, the quantitative constraint conditions of the non-contact loading system are obtained; Based on the actual load force, the reference load force, and the quantization constraints, the reference torque of the drive device in the non-contact loading system is obtained. The corrected torque of the drive device is obtained based on the lumped disturbance term and the reference torque; The drive device is controlled to drive the rotor of the non-contact loading system to rotate using the corrected torque.

7. The control method based on a non-contact loading system according to claim 6, characterized in that, The step of obtaining the lumped disturbance term of the non-contact loading system based on the displacement of the moving element and the actual load force in the non-contact loading system includes: A mathematical model of the non-contact loading system is established based on the first formula; The lumped disturbance term is obtained based on the displacement, the actual load force, the mathematical model, and the second formula. The first formula is: ； Among them, the It is the actual load force, the It is the first derivative term of the actual load force, the It is the rotational speed of the drive device, the It is the first derivative of the rotational speed of the drive device, the It is the displacement, the It is the first derivative term of the displacement, the It is the lead of the rotor or the mover, the It is the thrust coefficient of the mover, the It is the torque of the drive device, the It is the moment of inertia of the drive device, the The friction coefficient of the drive device is the coefficient of friction of the drive device. It is the lumped disturbance term; The second formula is: ； Among them, the It is an estimated value of the actual load force, the It is an estimate of the first derivative term of the actual load force. It is an estimated value of the rotational speed of the drive device, the It is an estimate of the first derivative term of the rotational speed of the drive device. It is the estimated value of the lumped disturbance term, the It is an estimate of the first derivative of the lumped disturbance term, the... It is a normal number.

8. The control method based on a non-contact loading system according to claim 7, characterized in that, The quantitative constraint conditions for obtaining the non-contact loading system based on the reference load force of the mover include: The quantitative constraints of the non-contact loading system are obtained based on the reference load force and the third formula. The third formula includes: ； Among them, the It is the reference load force, the It is the reference rotational speed of the drive device, the It is the load force error of the non-contact loading system, the It is the speed error of the drive device, the It is the load force funnel constraint function of the non-contact loading system, the and stated They are the aforementioned The initial and final values, the It is the aforementioned The convergence rate, the It is the speed funnel constraint function of the drive device, the and stated They are the aforementioned The initial and final values, the It is the aforementioned The convergence rate.

9. The control method based on a non-contact loading system according to claim 8, characterized in that, The step of obtaining the reference torque of the drive device in the non-contact loading system based on the actual load force, the reference load force, and the quantization constraint conditions includes: The reference torque of the drive device is obtained based on the actual load force, the reference load force, the quantization constraint conditions, and the fourth formula. The fourth formula is: ； Among them, the It is the reference torque, the And the It is the load force linear control gain of the non-contact loading system, the And the It is the nonlinear control gain of the non-contact loading system, the And the It is a positive constant, the stated And the It is the linear control gain of the rotational speed of the drive device, the And the It is the nonlinear control gain of the rotational speed of the drive device, the And the It is a positive constant, the stated And the It is the aforementioned The error after funnel performance transformation, the And the It is the aforementioned The error after funnel performance transformation, the And the It is an intermediate variable, the one mentioned And the It is an intermediate variable.

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