Monitoring system and method based on double-shaft all-electric steering
By adopting the monitoring method of double-check angle and torque in dual-front axle steering models, the problem of steering torque reverse and assisting terminal stagnation in the steering system is solved, and the stable operation of the steering system is achieved, avoiding component failure and Vehicle tire grinding.
Patent Information
- Application Number
- CN202411320056.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2024-12-27
AI Technical Summary
In dual-front axle steering models, due to the suppliers, software versions, and component quality of the two main steering assist devices, the steering torque in the first and second shafts often occurs, and the single steering assist terminal is stuck, resulting in the internal steering system The stress is too large, the rod system is deformed, and the angle error of the first and second axles is too large, resulting in problems such as steering components failure, tire abrasives, and vehicle instability.
Using a monitoring system based on dual-axis fully electric steering, through the monitoring method of angle and torque double verification, the sensor and controller are used to verify the status of the steering system in real time, and trigger torque degradation and fault alarm when an overlimited working condition is detected to ensure the steering system Run in a reasonable state.
It effectively avoids steering components failure and vehicle tire abrasion, reduces the risk of vehicle instability, and ensures the safety and stability of the steering system.
Smart Images
Figure CN119190178A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of steering monitoring, and in particular to a monitoring system and method based on dual-axis all-electric steering. Background Art
[0002] In the field of commercial vehicles, pure electric steering technology is becoming more and more mature and gradually beginning to be widely used. In dual front axle steering models, two sets of pure electric steering assist devices are often used to provide assistance and are connected through a rod system. Under this machine architecture, when the dual front axle pure electric steering system is turning, the two steering assist devices usually start to work together through the corresponding angle relationship to complete the driver's intention. However, based on this architecture, due to the supplier, software version, and component quality of the two sets of main steering assist devices, the steering torque of the first and second axes often reverses, and a single steering assist terminal is stuck, resulting in excessive internal stress in the steering system, deformation of the rod system, and excessive errors in the first and second axis angles, which ultimately cause steering component failure, tire wear, and vehicle instability. Summary of the invention
[0003] The purpose of this application is to provide a monitoring system and method based on dual-axis all-electric steering, which can effectively solve the problems of steering component failure, tire wear, and vehicle instability through a monitoring method with dual verification of angle and torque.
[0004] To achieve the above objectives, this application provides the following solutions:
[0005] In a first aspect, the present application provides a monitoring system based on dual-axis all-electric steering, the monitoring system based on dual-axis all-electric steering comprising: a sensor, a steering assist device and a controller;
[0006] The power steering device comprises: a first power steering device and a second power steering device; the first power steering device and the second power steering device are linked and connected via a mechanical rod system;
[0007] The sensor comprises: a first sensor and a second sensor;
[0008] The first steering assist device is used to obtain and execute steering instructions;
[0009] The first sensor is used to obtain the execution state of the first steering assist device after executing the steering instruction, and send the execution state to the controller; the execution state includes: steering angle and torque;
[0010] The controller is used to calculate the corresponding steering state required by the second steering assist device according to the execution state, and output a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device; the corresponding steering state includes: a corresponding steering angle and a corresponding torque;
[0011] The second sensor is used to obtain an actual steering angle and an actual torque of the second steering assist device after executing the corresponding steering instruction, and send the actual steering angle and the actual torque to the controller;
[0012] The controller is used to:
[0013] Calculating a first difference between the corresponding steering angle and the actual steering angle, and giving an alarm when the first difference is greater than a first preset threshold;
[0014] A second difference between the corresponding torque and the actual torque is calculated, and an alarm is issued when the second difference is greater than a second preset threshold.
[0015] Optionally, the first preset threshold is 10°.
[0016] Optionally, the second preset threshold is 1 Nm.
[0017] Optionally, the power steering device and the controller perform real-time signal exchange via CAN communication.
[0018] Optionally, the sensor is a rotation angle / displacement sensor.
[0019] Optionally, the positive direction of the steering angle and the torque is clockwise.
[0020] Optionally, the first steering assist device and the second steering assist device are used to provide steering assist.
[0021] In a second aspect, the present application provides a monitoring method based on dual-axis all-electric steering according to the monitoring system based on dual-axis all-electric steering as described above, the monitoring method comprising:
[0022] Acquiring an execution state of a first steering assist device; the execution state includes: a steering angle and a torque;
[0023] Calculating a corresponding steering state required by the second steering assist device according to the execution state, and outputting a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device; the corresponding steering state includes: a corresponding steering angle and a corresponding torque;
[0024] Acquiring an actual steering angle and an actual torque of the second steering assist device after executing the corresponding steering instruction;
[0025] Calculating a first difference between the corresponding steering angle and the actual steering angle, and giving an alarm when the first difference is greater than a first preset threshold;
[0026] A second difference between the corresponding torque and the actual torque is calculated, and an alarm is issued when the second difference is greater than a second preset threshold.
[0027] Optionally, after calculating a first difference between the corresponding steering angle and the actual steering angle and issuing an alarm when the first difference is greater than a first preset threshold, the method further includes:
[0028] The power assist of the power steering device is reduced by control, and a first difference is recorded.
[0029] Optionally, after calculating the second difference between the corresponding torque and the actual torque and issuing an alarm when the second difference is greater than a second preset threshold, the method further includes:
[0030] The control reduces the power assist of the steering power assist device and records the second difference.
[0031] According to the specific embodiments provided in this application, this application discloses the following technical effects:
[0032] The present application provides a monitoring system and method based on dual-axis full-electric steering, the monitoring system comprising: a sensor, a steering assist device and a controller; the steering assist device comprises: a first steering assist device and a second steering assist device; the first steering assist device and the second steering assist device are linked and connected via a mechanical rod system; the sensor comprises: a first sensor and a second sensor; the first steering assist device is used to obtain and execute steering instructions; the first sensor is used to obtain the execution state of the first steering assist device, and send the execution state to the controller; the execution state comprises: a steering angle and a torque; the controller is used to calculate the corresponding steering state required by the second steering assist device according to the execution state, and control the second steering assist device according to the corresponding steering state; the corresponding steering state comprises: a corresponding steering angle and a corresponding torque; the second sensor is used to obtain the actual steering angle and the actual torque of the second steering assist device, and send the actual steering angle and the actual torque to the controller; the controller is used to: calculate a first difference between the corresponding steering angle and the actual steering angle, and alarm when the first difference is greater than a first preset threshold; calculate a second difference between the corresponding torque and the actual torque, and alarm when the second difference is greater than a second preset threshold. The present application uses a first sensor to obtain the steering state of a first steering assist device, and then calculates the corresponding steering state required by a second steering assist device, and then uses a second sensor to obtain the actual state of the second steering assist device, and then compares the actual state with the corresponding steering state. The present application uses a monitoring method for dual verification of steering angle and torque, and an alarm is issued when an over-limit condition is detected, thereby ensuring that the steering system operates in a reasonable state, avoiding two torque reversals, and a single steering assist terminal stuck and causing excessive internal stress in the steering system, which ultimately causes steering component failure, tire wear, and vehicle instability. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0034] Figure 1 A schematic diagram of the structure of a monitoring system based on dual-axis all-electric steering provided in one embodiment of the present application;
[0035] Figure 2 A schematic flow chart of a monitoring method based on dual-axis all-electric steering provided in another embodiment of the present application;
[0036] Figure 3 A schematic diagram of signal transmission of various parts of a monitoring system based on dual-axis all-electric steering provided in another embodiment of the present application;
[0037] Figure 4 A schematic diagram of the steering monitoring process of a monitoring system based on dual-axis all-electric steering provided in another embodiment of the present application.
[0038] Reference numerals:
[0039] The first sensor 101, the first power steering device 102, the first tie rod 201, the second tie rod 202, the third tie rod 203, the fourth tie rod 204, the first swing arm 301, the second swing arm 302, the third swing arm 303, the second power steering device 401, and the second sensor 402. DETAILED DESCRIPTION
[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0041] In the field of commercial vehicles, pure electric steering technology is becoming more and more mature and gradually beginning to be widely used. In dual front axle steering models, two sets of pure electric steering assist devices are often used to provide assistance and are connected through a rod system. Under this machine architecture, when the dual front axle pure electric steering system is turning, the two steering assist devices usually start linkage through the corresponding angle relationship to complete the driver's intention. However, based on this architecture, due to the supplier, software version, and component quality of the two sets of main steering assist devices, the steering torque of the first and second axes often reverses, and the single steering assist terminal is stuck, resulting in excessive internal stress in the steering system, causing the rod system to deform, the first and second axis angle errors to be too large, and ultimately causing steering component failure, tire wear, and vehicle instability. Based on this, a monitoring system and method based on dual-axis full electric steering is developed. Through a monitoring method of angle and torque dual verification, the state of the steering system is checked in real time when the system is started and the vehicle is running. When an over-limit condition is detected, the torque degradation and fault reporting measures are triggered to ensure that the steering system operates in a reasonable state. The deformation of the steering system rod can be avoided to a limited extent, and the problem of vehicle tire wear can be effectively reduced during vehicle operation.
[0042] This application uses a dual-verification monitoring method of angle and torque to check the state of the steering system in real time when the system is started and the vehicle is running. When an over-limit condition is detected, the torque downgrade and fault reporting measures are triggered to ensure that the steering system operates in a reasonable state. It can avoid deformation of the steering system rod system to a limited extent and effectively reduce the problem of vehicle tire wear during vehicle operation.
[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.
[0044] In an exemplary embodiment, Figure 1 As shown, a monitoring system based on dual-axis full-electric steering is provided, including: a sensor, a steering assist device and a controller. The steering assist device and the controller interact with each other in real time via CAN communication to perform signals such as steering angle / displacement, and sending / executing torque.
[0045] The steering assist device comprises: a first steering assist device 102 and a second steering assist device 401 ; the first steering assist device 102 and the second steering assist device 401 are linked and connected via a mechanical lever system; the first steering assist device 102 and the second steering assist device 401 are used to provide steering assist.
[0046] The mechanical rod system can ensure the safety of the steering system when the power assist device fails when the two steering shafts are turning. At the same time, an ideal steering wheel angle relationship is formed. The mechanical rod system includes: a first pull rod 201; a second pull rod 202; a third pull rod 203; a fourth pull rod 204; a first swing arm 301; a second swing arm 302; and a third swing arm 303.
[0047] The first tie rod 201 connects the first steering assist device 102 and the steering knuckle arm of the first steering shaft, the second tie rod 202 connects the first steering assist device 102 and the first swing arm 301, the third tie rod 203 connects the second swing arm 302 and the third swing arm 303, and the fourth tie rod 204 connects the third swing arm 303 and the steering knuckle arm of the second steering shaft. Figure 1 .
[0048] The sensor comprises: a first sensor 101 and a second sensor 402. The sensor is a rotation angle / displacement sensor.
[0049] The first steering assist device 102 is used to obtain and execute a steering instruction. The first steering assist device 102 is used to receive and execute a steering instruction issued by a driver or an IDS (intecligence drive system).
[0050] The first sensor 101 is used to obtain the execution state of the first steering assist device 102 after executing the steering instruction, and send the execution state to the controller; the execution state includes: steering angle and torque; the positive direction of the steering angle and the torque is clockwise.
[0051] The controller is used to calculate the corresponding steering state required by the second steering assist device 401 according to the execution state, and output a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device 401; the corresponding steering state includes: a corresponding steering angle and a corresponding torque. The corresponding steering state required by the second steering assist device 401 refers to the corresponding steering state required by the second steering assist device 401 under the mechanical lever system.
[0052] The second sensor 402 is used to obtain the actual steering angle and actual torque of the second steering assist device 401 after executing the corresponding steering instruction, and send the actual steering angle and actual torque to the controller;
[0053] The controller is used to:
[0054] A first difference between the corresponding steering angle and the actual steering angle is calculated, and an alarm is triggered when the first difference is greater than a first preset threshold value. In this embodiment, the first preset threshold value is 10°.
[0055] A second difference between the corresponding torque and the actual torque is calculated, and an alarm is triggered when the second difference is greater than a second preset threshold value. In this embodiment, the second preset threshold value is 1 Nm.
[0056] This embodiment adopts a monitoring method of dual verification of torque and angle, and checks the status of the steering system in real time when the system is started and the vehicle is running. When an over-limit condition is detected, measures such as torque degradation and fault reporting are triggered to ensure that the steering system operates in a reasonable state.
[0057] In the dual-axle steering vehicle, two steering assist devices, the first steering assist device 102 and the second steering assist device 401, are used to provide assist, and the steering assist devices are connected through a connecting rod system. When the steering wheel has a torque / angle input, the first steering assist device 102 and the second steering assist device 401 are linked through the angle relationship formed by the above-mentioned mechanical rod system. There are angle / displacement sensors on the first steering assist device 102 and the second steering assist device 401. The first steering assist device 102 and the second steering assist device 401 both set the execution angle and the positive and negative (direction) of the assist torque according to the rotation direction of the steering wheel. The steering assist device is implemented by the corresponding controller (ECU) and the vehicle controller (VCU) to carry out real-time interaction of angle and torque. The VCU calculates and judges according to the angle / torque feedback from the steering assist device. When it is detected that the feedback angle is greater than 10° from the issued angle or the feedback torque is greater than 1Nm from the issued torque, a corresponding protection instruction is issued and a fault is reported.
[0058] In another exemplary embodiment of the present application, Figure 2 As shown, a monitoring method based on dual-axis full-electric steering is provided. The method is based on the monitoring system based on dual-axis full-electric steering in the previous embodiment. The monitoring method includes:
[0059] S1. Acquire an execution state of a first steering assist device; the execution state includes: a steering angle and a torque.
[0060] S2. Calculate the corresponding steering state required by the second steering assist device according to the execution state, and output a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device; the corresponding steering state includes: a corresponding steering angle and a corresponding torque.
[0061] S3. Acquire an actual steering angle and an actual torque of the second steering assist device after executing the corresponding steering command.
[0062] S4, calculating a first difference between the corresponding steering angle and the actual steering angle, and giving an alarm when the first difference is greater than a first preset threshold, then controlling to reduce the power assistance of the steering power assist device, and recording the first difference.
[0063] S5, calculating a second difference between the corresponding torque and the actual torque, and giving an alarm when the second difference is greater than a second preset threshold, then controlling to reduce the power assist of the steering assist device, and recording the second difference.
[0064] In another exemplary embodiment of the present application, a monitoring system based on dual-axis all-electric steering is provided, including a steering angle / displacement sensor, a steering assist device ECU, and a controller VCU.
[0065] The steering assist device ECU1 and the steering assist device ECU2 are connected by a mechanical rod system, which can ensure that the two steering shafts are turned and the safety of the steering system when the assist device fails, and form an ideal steering wheel angle relationship.
[0066] The steering assist device ECU and controller VCU carry out real-time interaction of signals such as steering angle / displacement and sending / executing torque through CAN communication.
[0067] The steering angle / displacement sensors are respectively installed on the steering power device ECU1 and the steering power device ECU2, and are used to detect and feed back the real-time steering angle / propulsion displacement of the steering power device ECU1 and the steering power device ECU2.
[0068] The steering assist device ECU1 is used to receive and execute steering instructions issued by the driver or IDS, and upload the execution status (including torque and steering angle) to the VCU in real time.
[0069] The controller VCU is used to control the steering power device / ECU2, calculate the corresponding steering angle under the mechanical lever system according to the torque / angle feedback of the steering power device / ECU1, send the target angle to the steering power device / ECU2, and perform real-time verification of the angle and torque of the steering power device / ECU1 and the steering power device / ECU2.
[0070] See also Figure 3 and Figure 4 ,The steering monitoring process of the monitoring system is as follows:
[0071] 1. ECU1\sensor 1 of power steering device 1 and ECU2\sensor 2 of power steering device 2 report real-time steering angle and torque signals to VCU respectively.
[0072] 2. VCU verifies the theoretical angle and torque sent by the corresponding power steering device and the feedback angle and torque of ECU1\sensor 1 and ECU2\sensor 2.
[0073] 1) Angle threshold detection: Under steering conditions, the steering device 1 feeds back the implementation angle and torque to the VCU. The VCU obtains the target execution angle B of the steering assist device 2 by looking up the angle A fed back by the angle sensor 1, and checks the difference between the angle B and the feedback angle B1 of the angle sensor 2 through the preset one-two axis angle relationship correspondence table. When it is detected that the feedback angle is greater than 10° from the issued angle, a corresponding protection instruction is issued and a fault is reported (the target execution angle B of the steering assist device 2 is preset. Through the relationship between the two mechanical rods, the angle of the steering assist device 1 is set, and the corresponding angle of the steering device 2 is obtained by looking up the table in the control logic).
[0074] 2) Torque detection:
[0075] a. Set the clockwise direction of the steering assist device 1ECU1 as the positive direction of torque and angle during execution. VCU verifies the execution torque direction of the execution torque T2 of the steering assist device 2 when the steering assist device feedbacks the torque T1. If the torque is in the reverse direction, the threshold is not met.
[0076] b. The power steering device 1 and the power steering device 2 feed back real-time torque. The VCU detects the real-time torque of the power steering device 1, sends the real-time torque to the power steering device 2, and verifies the real-time torque fed back by the power steering device 2. When the real-time torque difference is greater than 1Nm, it does not meet the threshold.
[0077] When the VCU checks the steering angle to be out of limit or the torque method is reversed or the torque is out of limit, the power steering device is downgraded to protect the system. The fault is reported to the instrument and the data is recorded in the TBOX.
[0078] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0079] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.
Claims
1. A monitoring system based on dual-axis all-electric steering, characterized in that: The monitoring system based on dual-axis all-electric steering includes: a sensor, a steering assist device and a controller; The power steering device comprises: a first power steering device and a second power steering device; the first power steering device and the second power steering device are linked and connected via a mechanical rod system; The sensor comprises: a first sensor and a second sensor; The first steering assist device is used to obtain and execute steering instructions; The first sensor is used to obtain the execution state of the first steering assist device after executing the steering instruction, and send the execution state to the controller; the execution state includes: steering angle and torque; The controller is used to calculate the corresponding steering state required by the second steering assist device according to the execution state, and output a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device; the corresponding steering state includes: a corresponding steering angle and a corresponding torque; The second sensor is used to obtain an actual steering angle and an actual torque of the second steering assist device after executing the corresponding steering instruction, and send the actual steering angle and the actual torque to the controller; The controller is used to: Calculating a first difference between the corresponding steering angle and the actual steering angle, and giving an alarm when the first difference is greater than a first preset threshold; A second difference between the corresponding torque and the actual torque is calculated, and an alarm is issued when the second difference is greater than a second preset threshold.
2. The monitoring system based on dual-axis all-electric steering according to claim 1 is characterized in that: The first preset threshold is 10°.
3. The monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The second preset threshold is 1 Nm.
4. The monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The power steering device and the controller perform real-time signal exchange via CAN communication.
5. The monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The sensor is a rotation angle / displacement sensor.
6. The monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The positive direction of the steering angle and the torque is clockwise.
7. The monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The first steering assist device and the second steering assist device are used to provide steering assist.
8. A monitoring method based on dual-axis all-electric steering according to the monitoring system based on dual-axis all-electric steering according to claim 1, characterized in that: The monitoring method comprises: Acquiring an execution state of a first steering assist device; the execution state includes: a steering angle and a torque; Calculating a corresponding steering state required by the second steering assist device according to the execution state, and outputting a corresponding steering instruction according to the corresponding steering state; the corresponding steering instruction is used to control the second steering assist device; the corresponding steering state includes: a corresponding steering angle and a corresponding torque; Acquiring an actual steering angle and an actual torque of the second steering assist device after executing the corresponding steering instruction; Calculating a first difference between the corresponding steering angle and the actual steering angle, and giving an alarm when the first difference is greater than a first preset threshold; A second difference between the corresponding torque and the actual torque is calculated, and an alarm is issued when the second difference is greater than a second preset threshold.
9. The monitoring method based on dual-axis all-electric steering according to claim 1, characterized in that: After calculating a first difference between the corresponding steering angle and the actual steering angle and giving an alarm when the first difference is greater than a first preset threshold, the method further includes: The power assist of the power steering device is reduced by control, and a first difference is recorded.
10. The monitoring method based on dual-axis all-electric steering according to claim 1, characterized in that: After calculating a second difference between the corresponding torque and the actual torque and giving an alarm when the second difference is greater than a second preset threshold, the method further includes: The control reduces the power assist of the power steering device and records the second difference.