An electrically assisted integrated active steering system and a vehicle equipped with the system

Abstract

The application provides an electric power-assisted integrated active steering system, and relates to the technical field of automobile steering. The system comprises a steering wheel module, which is used for giving steering input of a driver; a steering column module, which is used for detecting input torque and input angle of the steering wheel module; an electric power-assisted integrated active steering module, which is used for generating steering assistance torque and active steering angle and superimposing the input torque and the input angle; a magnetic steering gear module, which is used for converting rotary motion from the electric power-assisted integrated active steering module into linear motion; and a steering tie rod module, which is used for driving a steering wheel to steer under the push of the linear motion of the magnetic steering gear module. The electric power-assisted integrated active steering system greatly improves the efficiency and reliability of the active steering system.

Description

Technical Field

[0001] The present application relates to the field of automobile steering technology, and in particular to an electric power-assisted integrated active steering system and a vehicle equipped with the system. Background Art

[0002] The steering system is a key component in determining a vehicle's lateral stability. To enhance this, active steering systems have been developed and widely adopted. Based on traditional steering systems, active steering systems employ an electromechanical mechanism that superimposes an active steering angle. This system autonomously adjusts the steering wheel angle based on real-time vehicle conditions, thereby ensuring lateral stability in complex driving conditions. Furthermore, to ensure the ease of steering required by active steering systems, active steering systems with power steering have become a current research and development focus.

[0003] Currently, active steering systems with power steering primarily employ a split design, meaning the power steering module and active steering module are independently designed and developed, involving two sets of motor hardware: the active steering motor and the power steering motor. Furthermore, the power steering module and active steering module are primarily implemented using a combination of motors and mechanical transmission devices (worm gears, planetary gears, etc.). This approach presents the following issues: 1. The split design of the active steering module and power steering module can easily lead to low integration, large size, and heavy weight in the vehicle's active steering system, making installation and use inconvenient. 2. The split design of the active steering module and power steering module requires two sets of motor hardware, resulting in high costs. 3. The inherent friction, wear, aging, and seizure characteristics of mechanical transmission devices seriously degrade the reliability of the active steering system. Summary of the Invention

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

[0005] To this end, the first purpose of this application is to propose an electric power-assisted integrated active steering system, which solves the technical problems of low integration, large size, heavy weight and high cost of automobile active steering systems caused by the separate design of active steering modules and power steering modules in existing methods, and at the same time solves the problem of low reliability of active steering systems caused by friction, wear, aging and jamming of mechanical transmission devices, which can greatly improve the efficiency and reliability of active steering systems.

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

[0007] To achieve the above-mentioned purpose, the first embodiment of the present application proposes an electric power integrated active steering system, including a steering wheel module, a steering column module, an electric power integrated active steering module, a magnetic steering module and a steering rod module, wherein:

[0008] Steering wheel module, for given driver steering input;

[0009] A steering column module is used to detect the input torque and input angle of the steering wheel module;

[0010] An electric power-assisted integrated active steering module generates steering assist torque and active steering angle, which are superimposed on the input torque and input angle.

[0011] A magnetic steering module, which converts the rotary motion from the electrically assisted integrated active steering module into linear motion;

[0012] The steering rod module is used to drive the steering wheel to steer under the impetus of the linear motion of the magnetic steering module.

[0013] The electrically assisted integrated active steering system of the embodiment of the present application adopts a dual-rotor motor and a planetary magnetic gear to form a design scheme that integrates power steering and active steering. The active steering motor and the power steering motor are integrated into a dual-rotor motor, which has significant advantages such as higher integration, more compact structure, lighter weight, and lower cost. The present application eliminates the mechanical transmission device, fundamentally avoiding unnecessary power loss caused by the mechanical transmission device, greatly improving the efficiency of the active steering system, and fundamentally eliminating the low reliability problem caused by the inherent friction, wear, aging and jamming characteristics of the mechanical transmission device, thereby greatly improving the reliability of the active steering system.

[0014] Optionally, in one embodiment of the present application, the steering column module includes a steering column and a sensor, the steering tie rod module includes a steering tie rod, a steering knuckle arm and a steering knuckle, and the electric power-assisted integrated active steering module is specifically used for:

[0015] Provides steering assist torque for the active steering system and adds it to the input torque;

[0016] Provides active steering angle for the active steering system, and uses magnetic torque coupling transmission to superimpose the active steering angle and input angle at a fixed ratio.

[0017] Optionally, in one embodiment of the present application, the electric power-assisted integrated active steering module adopts a design method of coupling a dual-rotor motor and a planetary magnetic gear. The electric power-assisted integrated active steering module includes a steering motor stator, a steering motor outer rotor, a steering motor inner rotor, a permanent magnet outer gear ring, a permanent magnet planetary rotor, a permanent magnet sun rotor, an electromagnetic clutch, a bearing and an outer shell, wherein:

[0018] The stator of the steering motor is fixed to the outer shell and remains stationary;

[0019] The outer rotor of the steering motor is fixedly connected to the permanent magnet outer gear ring and rotates synchronously;

[0020] The inner rotor of the steering motor is fixedly connected to the steering column module and the permanent magnet sun rotor and rotates synchronously;

[0021] The electromagnetic clutch is arranged between the permanent magnet outer gear ring and the outer shell;

[0022] The permanent magnet planetary rotor is fixedly connected to the magnetic steering module and rotates synchronously.

[0023] Optionally, in one embodiment of the present application, the steering motor stator includes a steering motor stator winding 1, a steering motor stator winding 2, a steering motor stator magnetic barrier, and a steering motor stator core. The steering motor stator winding 1, the steering motor stator winding 2, and the steering motor magnetic barrier are fixed to the steering motor stator core, and the steering motor stator winding 1 and the steering motor stator winding 2 are respectively arranged on the outside and inside of the steering motor stator magnetic barrier.

[0024] The outer rotor of the steering motor comprises an outer rotor permanent magnet array and an outer rotor core of the steering motor. The outer rotor permanent magnet array of the steering motor is fixed on the inner side of the outer rotor core of the steering motor.

[0025] The inner rotor of the steering motor comprises an inner rotor permanent magnet array of the steering motor and an inner rotor core of the steering motor, wherein the inner rotor permanent magnet array of the steering motor is fixed to the outer side of the inner rotor core of the steering motor;

[0026] The permanent magnet outer gear ring comprises an outer gear ring permanent magnet array and an outer gear ring iron core, and the outer gear ring permanent magnet array is fixed on the inner side of the outer gear ring iron core;

[0027] The permanent magnet planetary rotor includes a planetary wheel and a planetary carrier. The planetary wheel includes a planetary wheel permanent magnet array and a planetary wheel core. The planetary wheel permanent magnet array is fixed to the outside of the planetary wheel core.

[0028] The permanent magnet solar rotor comprises a solar rotor permanent magnet array and a solar rotor core, wherein the solar rotor permanent magnet array is fixed on the outside of the solar rotor core.

[0029] Optionally, in one embodiment of the present application, the power steering motor and the active steering motor of the electric power integrated active steering module are integrated.

[0030] The second stator winding of the steering motor and the inner rotor of the steering motor form a first universal permanent magnet motor, which outputs the steering assist torque via the inner rotor of the steering motor;

[0031] The first stator winding of the steering motor and the outer rotor of the steering motor form a second universal permanent magnet motor, which outputs the active steering angle via the outer rotor of the steering motor;

[0032] The permanent magnet outer ring gear, permanent magnet planetary rotor and permanent magnet sun rotor constitute a permanent magnet planetary magnetic gear, which superimposes the active steering angle from the steering motor outer rotor and the driver input angle from the steering motor inner rotor in a fixed ratio, and outputs them through the permanent magnet planetary rotor coupling.

[0033] Optionally, in one embodiment of the present application, the outer ring gear permanent magnet array, the planet gear permanent magnet array, and the sun rotor permanent magnet array all adopt a radial magnetization method, and the same circumferential side surface is arranged according to an N-level-S-level alternating method. The conditions satisfied by the number of pole pairs and sizes of the outer ring gear permanent magnet array, the planet gear permanent magnet array, and the sun rotor permanent magnet array are expressed as follows:

[0034]

[0035] Among them, P asr P represents the number of pole pairs of the permanent magnet array of the outer gear ring, ass Represents the number of pole pairs of the planetary gear permanent magnet array, P asp represents the number of pole pairs of the solar rotor permanent magnet array, R rg Indicates the radius of the outer gear ring permanent magnet array, R sg Indicates the radius of the planetary gear permanent magnet array, R pg represents the radius of the solar rotor permanent magnet array.

[0036] Optionally, in one embodiment of the present application, the magnetic steering module adopts a two-degree-of-freedom speed-regulating magnetic gear, and the magnetic steering module includes a magnetic gear rotor component, a magnetic gear magnetic adjustment component, a magnetic gear mover component, a magnetic gear bearing and a magnetic gear outer shell, wherein,

[0037] The magnetic gear rotor component is fixedly connected to the permanent magnet planetary rotor and rotates synchronously.

[0038] The magnetic gear magnetic adjustment component is fixed to the magnetic gear outer shell and remains stationary.

[0039] The magnetic gear mover component performs linear motion under the magnetic coupling of the magnetic gear rotor component and the magnetic gear magnetic adjustment component;

[0040] Magnetic gear bearings include magnetic gear rotary bearings and magnetic gear linear bearings.

[0041] Optionally, in one embodiment of the present application, the magnetic gear rotor component includes a magnetic gear rotor permanent magnet array and a gear rotor core, and the magnetic gear rotor permanent magnet array is fixed to the magnetic gear rotor.

[0042] The magnetic gear magnetic adjustment component includes a magnetic conductive medium and a non-magnetic conductive medium, and the magnetic gear magnetic adjustment component is arranged in an alternating manner of magnetic conductive medium and non-magnetic conductive medium.

[0043] The magnetic gear mover component comprises a magnetic gear mover permanent magnet array and a magnetic gear mover iron core, and the magnetic gear mover permanent magnet array is fixed to the magnetic gear mover iron core.

[0044] The magnetic gear rotating bearing is arranged between the magnetic gear rotor component and the magnetic gear outer shell, and is used to support the rotational movement of the magnetic gear rotor component;

[0045] The magnetic gear linear bearing is arranged between the magnetic gear mover component and the magnetic gear outer shell, and is used to guide the linear motion of the magnetic gear mover component.

[0046] Optionally, in one embodiment of the present application, the permanent magnet array of the magnetic gear rotor and the permanent magnet array of the magnetic gear mover both adopt a radial magnetization method, and are arranged in an alternating manner of N poles and S poles on the same side. The conditions satisfied by the number of pole pairs of the permanent magnet array of the magnetic gear rotor, the magnetic gear magnetic adjustment component, and the permanent magnet array of the magnetic gear mover are expressed as follows:

[0047] P tm =P td +P tr

[0048] Among them, P tm is the number of pole pairs of the magnetic gear magnetic adjustment component, P td is the number of pole pairs of the permanent magnet array of the magnetic gear mover, P tr is the number of pole pairs of the permanent magnet array of the magnetic gear rotor.

[0049] To achieve the above-mentioned objectives, a second embodiment of the present invention provides a vehicle comprising the above-mentioned electric power-assisted integrated active steering system.

[0050] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0052] Figure 1 A schematic structural diagram of an electric power-assisted integrated active steering system provided in Example 1 of the present application;

[0053] Figure 2 This is a structural example diagram of an electric power-assisted integrated active steering system according to an embodiment of the present application;

[0054] Figure 3 This is a structural diagram of a dual-rotor motor of an electric power-assisted integrated active steering module according to an embodiment of the present application;

[0055] Figure 4 This is a structural diagram of the planetary magnetic gear of the electric power integrated active steering module according to an embodiment of the present application;

[0056] Figure 5 This is a structural diagram of the magnetic steering module of an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0058] The following describes an electric power-assisted integrated active steering system and a vehicle equipped with the system according to an embodiment of the present application with reference to the accompanying drawings.

[0059] Figure 1 This is a structural schematic diagram of an electric power-assisted integrated active steering system provided in Example 1 of the present application.

[0060] like Figure 1 As shown, the electric power integrated active steering system includes a steering wheel module, a steering column module, an electric power integrated active steering module, a magnetic steering module and a steering rod module, wherein:

[0061] Steering wheel module, for given driver steering input;

[0062] A steering column module is used to detect the input torque and input angle of the steering wheel module;

[0063] An electric power-assisted integrated active steering module generates steering assist torque and active steering angle, which are superimposed on the input torque and input angle.

[0064] A magnetic steering module, which converts the rotary motion from the electrically assisted integrated active steering module into linear motion;

[0065] The steering rod module is used to drive the steering wheel to steer under the impetus of the linear motion of the magnetic steering module.

[0066] According to some embodiments, Figure 2 This is a structural example diagram of the electric power integrated active steering system of this embodiment. Figure 2As shown, the steering system of this embodiment includes: 1. Steering wheel module, 2. Steering column module, 21. Steering column, 22. Sensor, 3. Electric power integrated active steering module, 31. Steering motor stator, 311. Steering motor stator winding 1, 312. Steering motor stator winding 2, 313. Steering motor stator magnetic barrier, 314. Steering motor stator core, 32. Steering motor outer rotor, 321. Steering motor outer rotor permanent magnet array, 322. Steering motor outer rotor core, 33. Steering motor inner rotor, 331. Steering motor inner rotor permanent magnet array, 332. Steering motor inner rotor core, 34. Permanent magnet outer ring gear, 341. Outer ring gear permanent magnet array, 342. Outer ring gear core, 35. Permanent magnet planetary rotor, 351. Planetary gear, 3511. Planetary gear permanent magnet array Column, 3512, planetary gear core, 352, planetary carrier, 36, permanent magnet sun rotor, 361, sun rotor permanent magnet array, 362, sun rotor core, 37, electromagnetic clutch, 38, bearing, 39, outer shell, 4, magnetic steering module, 41, magnetic gear rotor component, 411, magnetic gear rotor permanent magnet array, 412, magnetic gear rotor core, 42, magnetic gear magnetic adjustment component, 421, magnetic conductive medium, 422, non-magnetic conductive medium, 43, magnetic gear mover component, 431, magnetic gear mover permanent magnet array, 432, magnetic gear mover core, 44, magnetic gear bearing, 441, magnetic gear rotating bearing, 442, magnetic gear linear bearing, 45, magnetic gear outer shell, 5, steering rod module, 51, steering tie rod, 52, steering knuckle arm, 53, steering knuckle.

[0067] The electrically assisted integrated active steering system of the embodiment of the present application adopts a dual-rotor motor and a planetary magnetic gear to form a design scheme that integrates power steering and active steering. The active steering motor and the power steering motor are integrated into a dual-rotor motor, which has significant advantages such as higher integration, more compact structure, lighter weight, and lower cost. The present application eliminates the mechanical transmission device, fundamentally avoiding unnecessary power loss caused by the mechanical transmission device, greatly improving the efficiency of the active steering system, and fundamentally eliminating the low reliability problem caused by the inherent friction, wear, aging and jamming characteristics of the mechanical transmission device, thereby greatly improving the reliability of the active steering system.

[0068] Optionally, in one embodiment of the present application, Figure 3 This is a structural diagram of a dual-rotor motor of an electric power-assisted integrated active steering module according to an embodiment of the present application. Figure 4 This is a structural diagram of the planetary magnetic gear of the electric power integrated active steering module according to an embodiment of the present application, as shown in FIG. Figure 2 、 Figure 3 、 Figure 4As shown, the electrically assisted integrated active steering module 3 utilizes a dual-rotor motor and planetary magnetic gear coupling design, comprising a steering motor stator 31, a steering motor outer rotor 32, a steering motor inner rotor 33, a permanent magnet outer ring gear 34, a permanent magnet planetary rotor 35, a permanent magnet sun rotor 36, an electromagnetic clutch 37, a bearing 38, and an outer housing 39. The steering motor stator 31 is fixed to the outer housing 39 and remains stationary. The steering motor inner rotor 33 is fixedly connected to the steering column module 2 and the permanent magnet sun rotor 36, rotating synchronously. The steering motor outer rotor 32 is fixedly connected to the permanent magnet outer ring gear 34, rotating synchronously. The permanent magnet outer ring gear 34 is connected to the outer housing 39 via an electromagnetic clutch 37. The permanent magnet planetary rotor 35 is fixedly connected to the magnetic steering module 4, rotating synchronously.

[0069] Optionally, in one embodiment of the present application, the steering motor stator 31 includes a steering motor stator winding 1 311, a steering motor stator winding 2 312, a steering motor stator flux barrier 313, and a steering motor stator core 314. The steering motor stator winding 1 311, the steering motor stator winding 2 312, and the steering motor flux barrier 313 are fixed to the steering motor stator core 314, with the steering motor stator winding 1 311 and the steering motor stator winding 2 312 respectively arranged on the outside and inside of the steering motor stator flux barrier 313. The steering motor outer rotor 32 includes a steering motor outer rotor permanent magnet array 321 and a steering motor outer rotor core 322. The steering motor outer rotor permanent magnet array 321 is fixed to the inside of the steering motor outer rotor core 322. The steering motor inner rotor 33 includes a steering motor inner rotor permanent magnet array 331 and a steering motor inner rotor core 332. The steering motor inner rotor permanent magnet array 331 is fixed to the outside of the steering motor inner rotor core 332. The permanent magnet outer ring gear 34 includes an outer ring gear permanent magnet array 341 and an outer ring gear core 342. The outer ring gear permanent magnet array 341 is fixed to the inside of the outer ring gear core 342. The permanent magnet planetary rotor 35 includes planetary gears 351 and a planet carrier 352. The planetary gears 351 include planetary gear permanent magnet arrays 3511 and planetary gear cores 3512. The planetary gear permanent magnet arrays 3511 are fixed to the outside of the planetary gear core 3512. The permanent magnet sun rotor 36 includes a sun rotor permanent magnet array 361 and a sun rotor core 362. The sun rotor permanent magnet array 361 is fixed to the outside of the sun rotor core 362. The electric power-assisted integrated active steering module 3 integrates the power-assisted motor and the active steering motor. The second stator winding 312 of the steering motor and the inner rotor 33 of the steering motor form a universal permanent magnet motor, which outputs the steering power torque via the inner rotor 33. The first stator winding 311 of the steering motor and the outer rotor 32 of the steering motor form a universal permanent magnet motor, which outputs the active steering angle via the outer rotor 32. The permanent magnet outer ring gear 34, the permanent magnet planetary rotor 35, and the permanent magnet sun rotor 36 form a permanent magnet planetary magnetic gear, which superimposes the active steering angle from the outer rotor 32 of the steering motor and the driver input angle from the inner rotor 33 at a fixed ratio, and couples the output through the permanent magnet planetary rotor 35.

[0070] Optionally, in one embodiment of the present application, the outer ring gear permanent magnet array 341, the planet gear permanent magnet array 3511, and the sun rotor permanent magnet array 361 all adopt a radial magnetization method, and the side surfaces of the same circumference are arranged in an alternating "N pole-S pole" manner. The number of pole pairs and size of the outer ring gear permanent magnet array 341, the planet gear permanent magnet array 3511, and the sun rotor permanent magnet array 361 meet the following conditions:

[0071]

[0072] Among them, P asr P represents the number of pole pairs of the permanent magnet array of the outer gear ring,ass Represents the number of pole pairs of the planetary gear permanent magnet array, P asp represents the number of pole pairs of the solar rotor permanent magnet array, R rg Indicates the radius of the outer gear ring permanent magnet array, R sg Indicates the radius of the planetary gear permanent magnet array, R pg represents the radius of the solar rotor permanent magnet array.

[0073] Optionally, in one embodiment of the present application, Figure 5 is a structural diagram of the magnetic steering module of this embodiment, as shown in Figure 2 、 Figure 5 As shown, the magnetic steering module 4 utilizes a two-degree-of-freedom speed-regulating magnetic gear, comprising a magnetic gear rotor component 41, a magnetic gear magnetization component 42, a magnetic gear mover component 43, a magnetic gear bearing 44, and a magnetic gear housing 45. The magnetic gear rotor component 41 is fixedly connected to the permanent magnet planetary rotor 35 and rotates synchronously. The magnetic gear magnetization component 42 is fixed to the magnetic gear housing 45 and remains stationary. The magnetic gear mover component 43 performs linear motion under the magnetic coupling between the magnetic gear rotor component 41 and the magnetic gear magnetization component 42. The magnetic gear bearing 44 includes a magnetic gear rotary bearing 441 and a magnetic gear linear bearing 442.

[0074] Optionally, in one embodiment of the present application, the magnetic gear rotor component 41 includes a magnetic gear rotor permanent magnet array 411 and a magnetic gear rotor core 412, with the magnetic gear rotor permanent magnet array 411 fixed to the outside of the magnetic gear rotor core 412. The magnetic gear magnetization component 42 includes a magnetic conductive medium 421 and a non-magnetic conductive medium 422, arranged in an alternating pattern of "magnetic conductive medium and non-magnetic conductive medium." The magnetic gear mover component 43 includes a magnetic gear mover permanent magnet array 431 and a magnetic gear mover core 432, with the magnetic gear mover permanent magnet array 431 fixed to the inside of the magnetic gear mover core 432. A magnetic gear rotary bearing 441 is disposed between the magnetic gear rotor component 41 and the magnetic gear outer shell 45 to support the rotational motion of the magnetic gear rotor component 41; a magnetic gear linear bearing 442 is disposed between the magnetic gear mover component 43 and the magnetic gear outer shell 45 to guide the linear motion of the magnetic gear mover component 43.

[0075] Optionally, in one embodiment of the present application, the magnetic gear rotor permanent magnet array 411 and the magnetic gear mover permanent magnet array 431 both adopt a radial magnetization method, and are arranged in an alternating "N pole-S pole" manner on the same side. The number of pole pairs of the magnetic gear rotor permanent magnet array 411, the magnetic gear magnetization component 42, and the magnetic gear mover permanent magnet array 431 meets the following conditions:

[0076] P tm =P td +P tr

[0077] Among them, P tm is the number of pole pairs of the magnetic gear magnetic adjustment component, P td is the number of pole pairs of the permanent magnet array of the magnetic gear mover, P tr is the number of pole pairs of the permanent magnet array of the magnetic gear rotor.

[0078] In order to implement the above embodiment, the present invention further proposes a vehicle including the above-mentioned electric power-assisted integrated active steering system.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0081] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0082] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0083] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0084] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0085] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0086] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An electric power-assisted integrated active steering system, characterized in that: It includes steering wheel module, steering column module, electric power integrated active steering module, magnetic steering module and steering rod module, among which, The steering wheel module is configured to provide a steering input from a given driver; The steering column module is used to detect the input torque and input angle of the steering wheel module; The electric power-assisted integrated active steering module is used to generate a steering assist torque and an active steering angle, and to superimpose the torque and the input angle; The electric power-assisted integrated active steering module adopts a design method of coupling a dual-rotor motor and a planetary magnetic gear. The electric power-assisted integrated active steering module includes a steering motor stator, a steering motor outer rotor, a steering motor inner rotor, a permanent magnet outer gear ring, a permanent magnet planetary rotor, a permanent magnet sun rotor, an electromagnetic clutch, a bearing and an outer shell. The steering motor stator is fixed to the outer shell and remains stationary; The outer rotor of the steering motor is fixedly connected to the permanent magnet outer gear ring and rotates synchronously; The inner rotor of the steering motor is fixedly connected to the steering column module and the permanent magnet sun rotor and rotates synchronously; The electromagnetic clutch is arranged between the permanent magnet outer gear ring and the outer shell; The permanent magnet planetary rotor is fixedly connected to the magnetic steering module and rotates synchronously; The steering motor stator includes a steering motor stator winding 1, a steering motor stator winding 2, a steering motor stator magnetic barrier and a steering motor stator core. The steering motor stator winding 1, the steering motor stator winding 2 and the steering motor magnetic barrier are fixed to the steering motor stator core, and the steering motor stator winding 1 and the steering motor stator winding 2 are respectively arranged on the outside and inside of the steering motor stator magnetic barrier; The outer rotor of the steering motor includes an outer rotor permanent magnet array and an outer rotor core of the steering motor, and the outer rotor permanent magnet array of the steering motor is fixed on the inner side of the outer rotor core of the steering motor; The inner rotor of the steering motor includes a permanent magnet array of the inner rotor of the steering motor and an inner rotor core of the steering motor, wherein the permanent magnet array of the inner rotor of the steering motor is fixed to the outer side of the inner rotor core of the steering motor; The permanent magnet outer gear ring includes an outer gear ring permanent magnet array and an outer gear ring iron core, and the outer gear ring permanent magnet array is fixed on the inner side of the outer gear ring iron core; The permanent magnet planetary rotor includes a planetary wheel and a planetary carrier, the planetary wheel includes a planetary wheel permanent magnet array and a planetary wheel core, and the planetary wheel permanent magnet array is fixed to the outer side of the planetary wheel core; The permanent magnet solar rotor comprises a solar rotor permanent magnet array and a solar rotor core, wherein the solar rotor permanent magnet array is fixed to the outside of the solar rotor core; The magnetic steering module is used to convert the rotational motion from the electric power integrated active steering module into linear motion; The steering rod module is used to drive the steering wheel to steer under the impetus of the linear motion of the magnetic steering module.

2. The system according to claim 1, wherein The steering column module includes a steering column and a sensor, the steering tie rod module includes a steering tie rod, a steering knuckle arm and a steering knuckle, and the electric power-assisted integrated active steering module is specifically used for: Providing a steering assist torque to the active steering system and superimposing the torque on the input torque; An active steering angle is provided for the active steering system, and the active steering angle and the input steering angle are superimposed at a fixed ratio by adopting a magnetic torque coupling transmission method.

3. The system according to claim 1, wherein: The power-assisted integrated active steering module has an integrated power-assisted motor and an active steering motor. The second stator winding of the steering motor and the inner rotor of the steering motor constitute a first universal permanent magnet motor, and the steering assist torque is outputted via the inner rotor of the steering motor; The first stator winding of the steering motor and the outer rotor of the steering motor constitute a second universal permanent magnet motor, and the active steering angle is outputted via the outer rotor of the steering motor; The permanent magnet outer gear ring, the permanent magnet planetary rotor and the permanent magnet sun rotor constitute a permanent magnet planetary magnetic gear, which superimposes the active steering angle from the steering motor outer rotor and the driver input angle from the steering motor inner rotor in a fixed ratio and outputs the result through coupling of the permanent magnet planetary rotor.

4. The system according to claim 3, wherein: The outer ring gear permanent magnet array, the planet gear permanent magnet array, and the sun rotor permanent magnet array all adopt a radial magnetization method, and the same circumferential side surface is arranged according to an N-level-S-level alternating method. The conditions satisfied by the number of pole pairs and sizes of the outer ring gear permanent magnet array, the planet gear permanent magnet array, and the sun rotor permanent magnet array are expressed as follows: in, represents the number of pole pairs of the outer gear ring permanent magnet array, represents the number of pole pairs of the planetary gear permanent magnet array, represents the number of pole pairs of the solar rotor permanent magnet array, represents the radius of the outer gear ring permanent magnet array, represents the radius of the planetary gear permanent magnet array, represents the radius of the solar rotor permanent magnet array.

5. The system according to claim 1, wherein: The magnetic steering module adopts a two-degree-of-freedom speed-regulating magnetic gear. The magnetic steering module includes a magnetic gear rotor component, a magnetic gear magnetic adjustment component, a magnetic gear mover component, a magnetic gear bearing and a magnetic gear outer shell, wherein: The magnetic gear rotor component is fixedly connected to the permanent magnet planetary rotor and rotates synchronously; The magnetic gear magnetic adjustment component is fixed to the outer shell of the magnetic gear and remains stationary; The magnetic gear mover component performs linear motion under the magnetic coupling of the magnetic gear rotor component and the magnetic gear magnetic adjustment component; The magnetic gear bearing includes a magnetic gear rotary bearing and a magnetic gear linear bearing.

6. The system according to claim 5, wherein: The magnetic gear rotor component includes a magnetic gear rotor permanent magnet array and a gear rotor core, and the magnetic gear rotor permanent magnet array is fixed to the magnetic gear rotor; The magnetic gear magnetic adjustment component includes a magnetic conductive medium and a non-magnetic conductive medium, and the magnetic gear magnetic adjustment component is arranged in an alternating manner of magnetic conductive medium and non-magnetic conductive medium; The magnetic gear mover component includes a magnetic gear mover permanent magnet array and a magnetic gear mover core, and the magnetic gear mover permanent magnet array is fixed to the magnetic gear mover core; The magnetic gear rotating bearing is arranged between the magnetic gear rotor component and the magnetic gear outer shell, and is used to support the rotational movement of the magnetic gear rotor component; The magnetic gear linear bearing is arranged between the magnetic gear mover component and the magnetic gear outer shell, and is used to guide the linear motion of the magnetic gear mover component.

7. The system according to claim 6, wherein: The permanent magnet array of the magnetic gear rotor and the permanent magnet array of the magnetic gear mover both adopt a radial magnetization method, and are arranged in an alternating manner of N poles and S poles on the same side. The conditions satisfied by the number of pole pairs of the permanent magnet array of the magnetic gear rotor, the magnetic gear magnetic adjustment component, and the permanent magnet array of the magnetic gear mover are expressed as follows: in, is the number of pole pairs of the magnetic gear magnetic adjustment component, is the number of pole pairs of the permanent magnet array of the magnetic gear mover, is the number of pole pairs of the permanent magnet array of the magnetic gear rotor.

8. A vehicle, characterized in that: The vehicle is equipped with the electric power-assisted integrated active steering system according to any one of claims 1 to 7.

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