Dual-redundancy drive-by-wire electric steering system

Abstract

The invention relates to the technical field of vehicle steering, in particular to a dual-redundancy drive-by-wire electric steering system. The invention provides a dual-redundancy drive-by-wire electric steering system which comprises a steering axle, a connecting rod mechanism, a steering arm, a speed reducer, a connecting flange, a steering motor and a steering controller, the steering controller controls and drives the steering motor, the steering motor drives the speed reducer to rotate, and the speed reducer drives the steering arm to swing. And the steering axle is driven by the connecting rod mechanism to steer. According to the dual-redundancy drive-by-wire electric steering system, a drive-by-wire electric steering mode is adopted, energy conservation and environmental protection are achieved, and the cost and the installation difficulty are reduced; the overall structure is compact, installation is convenient, pipeline connection is not needed, and the device is particularly suitable for multi-shaft steering system arrangement; the double-winding motor and the RV speed reducer are adopted, the service life is long, and steering reliability and accuracy are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering, and more particularly to a dual-redundant wire-controlled electric steering system for steering a multi-axle heavy-duty vehicle. Background Art

[0002] At present, electric steering systems have been gradually applied to small and medium-sized passenger vehicles, and have greatly improved the steering performance of vehicles. However, they are still subject to certain restrictions in the field of medium and heavy-duty passenger and freight commercial vehicles that require large power torque. Especially in heavy-duty multi-axle vehicles, multi-axle steering systems mostly use hydraulic power steering. Compared with traditional hydraulic steering systems, electric steering systems have the advantages of compact structure, no need for pipeline connection, energy saving and environmental protection, and have broad application prospects.

[0003] Existing multi-axle steering vehicles usually use hydraulic drive and proportional servo control methods to control the vehicle steering angle, which has disadvantages such as bulky size, oil leakage, and high cost.

[0004] At the same time, existing electric steering mostly adopts the form of motor plus circulating ball mechanical steering gear or ball screw electric cylinder, which has low reliability and life.

[0005] Chinese invention patent CN 103419835 A proposes a car wire-controlled steering system and its control method, which can accurately control the angle of the steering wheel and use the position servo method of the road sensing motor to limit the steering angle of the steering wheel, replacing the commonly used mechanical limit mechanism. The above-mentioned steering system uses an electric steering device, which is suitable for heavy and super-heavy vehicles, but it uses the steering wheel to drive the steering mechanism, and the actuator is an electric cylinder, which has low life and reliability and is inconvenient to install.

[0006] Chinese utility model patent CN 208149425 U proposes an unmanned driving wire-controlled steering mechanism for electric vehicles, including: a fixed frame, which is hollowly sleeved on the steering wheel shaft and fixed at the lower end on the vehicle frame; a steering motor, which is fixed on the fixed frame; a planetary gear reducer, whose input end is connected to the steering motor output shaft, and the output end of the planetary gear reducer is sleeved with a driving spur gear; a driven spur gear, which is sleeved on the steering wheel shaft and can rotate with the shaft, and the driven spur gear is meshed with the driving spur gear; a steering axle, which is arranged between the steering wheels, connected to the steering wheel shaft, and the steering axle is driven by the driving motor, and the steering wheel is automatically steered by the steering motor, and the braking when the person is driving and the braking when the person is driving do not interfere with each other. The above-mentioned steering mechanism adopts an electric steering gear, which is in the form of a circulating ball mechanical steering gear through a steering servo motor frame, and is suitable for distributed electric drive multi-axle vehicles with independent suspension, and does not have redundant safety functions.

[0007] In summary, there is currently no highly reliable electric steering-by-wire system suitable for multi-axle vehicles. Summary of the invention

[0008] The purpose of the present invention is to provide a dual-redundant wire-controlled electric steering system to solve the problems of low reliability and low life of steering systems applicable to multi-axle vehicles in the prior art.

[0009] Another object of the present invention is to provide a dual-redundant wire-controlled electric steering system to solve the problems of bulky, oil leakage and high cost of steering systems applicable to multi-axle vehicles in the prior art.

[0010] In order to achieve the above object, the present invention provides a dual redundant wire-controlled electric steering system, including a steering axle, a connecting rod mechanism, a steering arm, a reducer, a connecting flange, a steering motor and a steering controller:

[0011] The steering axle is connected to the connecting rod mechanism;

[0012] The connecting rod mechanism has one end connected to the steering arm;

[0013] The steering arm has one end connected to the reducer;

[0014] The reducer has one end connected to the steering motor;

[0015] The steering motor has one end connected to the steering controller;

[0016] The steering controller controls the steering motor, the steering motor drives the reducer to rotate, the reducer drives the steering arm to swing, and drives the steering axle to steer through the connecting rod mechanism.

[0017] In one embodiment, the dual-redundant electric steering-by-wire system further includes a connecting flange:

[0018] The steering motor and the reducer are connected and fixed via a connecting flange.

[0019] In one embodiment, the steering controller receives a target steering angle instruction of the vehicle and controls the steering direction and speed of the steering motor.

[0020] In one embodiment, the steering motor is a double-winding permanent magnet synchronous motor:

[0021] The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

[0022] In one embodiment, the reducer is a rotating vector reducer.

[0023] In one embodiment, the steering arm is connected to the reducer via bolts.

[0024] In order to achieve the above object, the present invention provides a multi-axle vehicle, which adopts the dual redundant wire-controlled electric steering system as described in any one of the above

[0025] In one embodiment, the steering motor, the speed reducer and the steering controller are installed in a cabin of a multi-axle vehicle.

[0026] In one embodiment, the steering motor is a double-winding permanent magnet synchronous motor:

[0027] The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

[0028] In one embodiment, the reducer is a rotating vector reducer.

[0029] The present invention proposes a dual-redundant wire-controlled electric steering system and a multi-axle vehicle, which adopts advanced wire-controlled electric steering technology, significantly reduces energy consumption, reduces production costs, simplifies the installation process, and does not require cumbersome pipe connections. In addition, the system is compact and easy to install, and is particularly suitable for the layout of a multi-axle steering system. The system also adopts a dual-winding motor and an RV reducer to ensure the durability and accuracy of the steering system. This innovative design will bring energy-saving and environmentally friendly experience to users, while greatly improving the reliability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always represent the same features, wherein:

[0031] Figure 1 A top view of a dual redundant electric steering by wire system according to an embodiment of the present invention is disclosed;

[0032] Figure 2 A perspective view of a dual redundant electric steering by wire system according to an embodiment of the present invention is disclosed;

[0033] Figure 3 A schematic diagram of an electric power steering arrangement according to an embodiment of the present invention is disclosed.

[0034] The meanings of the reference numerals in the figures are as follows:

[0035] 1st steering axle;

[0036] 2-link mechanism;

[0037] 3. Steering arm;

[0038] 4 reducer;

[0039] 5. Connecting flange;

[0040] 6. Steering motor;

[0041] 7. Steering controller;

[0042] 811 axle;

[0043] 812 axle;

[0044] 813 axles;

[0045] 814 axles;

[0046] 815 axle;

[0047] 816 axle;

[0048] 821 articulated plate;

[0049] 822 articulated plate;

[0050] 830 interior cabin. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", 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 invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0053] Figure 1 and Figure 2 The top view and the stereoscopic view of the dual redundant wire-controlled electric steering system according to an embodiment of the present invention are disclosed respectively. Figure 1 and Figure 2 As shown, the dual-redundant wire-controlled electric steering system proposed by the present invention includes a steering axle 1, a connecting rod mechanism 2, a steering arm 3, a reducer 4, a connecting flange 5, a steering motor 6 and a steering controller 7:

[0054] The steering axle 1 is connected to the connecting rod mechanism 2;

[0055] The connecting rod mechanism 2 has one end connected to the steering arm 3 and the other end connected to the steering axle 1;

[0056] The steering arm 3 has one end connected to the reducer 4 and the other end connected to the connecting rod mechanism 2;

[0057] The reducer 4 has one end connected to the steering motor 6 and the other end connected to the steering arm 3;

[0058] The steering motor 6 has one end connected to the steering controller 7 and the other end connected to the reducer 4;

[0059] The steering controller 7 controls and drives the steering motor 6, the steering motor 6 drives the reducer 4 to rotate, the reducer 4 drives the steering arm 3 to swing, and drives the steering axle 1 to steer through the connecting rod mechanism 2.

[0060] In this embodiment, the steering arm 3 is connected to the reducer 4 by bolts. When the reducer 4 rotates, the steering arm 3 is driven to swing, and the steering axle 1 is driven to steer through the connecting rod mechanism 2.

[0061] In this embodiment, the reducer 4 is an RV rotating vector reducer (hereinafter referred to as RV reducer).

[0062] The RV reducer consists of a planetary gear reducer front stage and a cycloid pinwheel reducer rear stage. It has the characteristics of large transmission ratio, smooth transmission, large output torque, small size, strong impact resistance, etc. It is used for precision transmission of axle steering, reducing motor speed and increasing torque.

[0063] In this embodiment, the steering motor 6 and the reducer 4 are connected and fixed via a connecting flange 5 .

[0064] In this embodiment, the steering motor 6 drives the reducer 4 to obtain a low-speed and high-torque output, and the steering arm 3 drives the connecting rod mechanism 2 to drive the steering axle 1 to achieve steering.

[0065] Furthermore, the steering motor 6 is a dual-winding permanent magnet synchronous motor (referred to as a dual-winding motor), which includes two sets of three-phase windings, and is driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

[0066] A winding is a group of turns of wire that form an electrical circuit corresponding to a certain voltage value marked on the transformer.

[0067] When one set of three-phase windings fails, another set of normal three-phase windings is used for fault-tolerant operation to avoid motor failure caused by an open or short circuit in the windings, thereby ensuring steering reliability.

[0068] In this embodiment, the steering controller 7 can receive a target steering angle instruction of the vehicle and control the steering direction and rotation speed of the steering motor 6 .

[0069] The dual-redundant wire-controlled electric steering system proposed in the present invention adopts a wire-controlled electric steering method. No mechanical connection is required between the steering wheel and the steering gear. The steering wheel sends a steering command, the steering controller controls the steering direction and speed of the steering motor, the reducer outputs a large torque, and drives the axle steering through the steering arm to drive the connecting rod mechanism.

[0070] The present invention provides a multi-axle vehicle, which adopts the dual-redundant wire-controlled electric steering system as described in any one of the above items.

[0071] Figure 3 A schematic diagram of an electric power steering arrangement according to an embodiment of the present invention is disclosed. Figure 3 As shown, the multi-axle heavy vehicle may include three carriages, namely a first carriage, a second carriage and a third carriage.

[0072] The first carriage is provided with axle 811 and axle 812;

[0073] The second carriage is arranged with axle 813 and axle 814;

[0074] The third carriage is provided with axle 815 and axle 816 .

[0075] The first carriage and the second carriage are connected via a hinge plate 821;

[0076] The second carriage and the third carriage are connected via a hinge plate 822 .

[0077] exist Figure 3 In the illustrated embodiment, the steering motor, reducer and steering controller are core components, which are installed in the interior cabin 830 of the multi-axle vehicle, realizing multi-axle steering distributed independent wire-controlled drive of the multi-axle vehicle, thereby increasing the convenience of installation and maintenance.

[0078] Furthermore, the steering motor is a dual-winding motor, and the reducer is an RV reducer. The dual-winding motor, the RV reducer and the steering controller are installed in the vehicle cabin 830 of the multi-axle vehicle.

[0079] The dual-redundant wire-controlled electric steering system and multi-axle vehicle proposed in the present invention have the following beneficial effects:

[0080] 1) Adopting wire-controlled electric steering, which is energy-saving and environmentally friendly, and reduces costs and installation difficulty;

[0081] 2) The overall structure is compact, easy to install, and does not require pipeline connection, which is particularly suitable for multi-axis steering system layout;

[0082] 3) It adopts double-winding motor and RV reducer, which has long service life and ensures steering reliability and accuracy.

[0083] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0084] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0085] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0086] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the connection inside two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] The above embodiments are provided for persons familiar with the art to implement or use the present invention. Personnel familiar with the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope of the innovative features mentioned in the claims.

Claims

1. A dual redundant wire-controlled electric steering system, characterized in that: Including steering axle, connecting rod mechanism, steering arm, reducer, connecting flange, steering motor and steering controller: The steering axle is connected to the connecting rod mechanism; The connecting rod mechanism has one end connected to the steering arm; The steering arm has one end connected to the reducer; The reducer has one end connected to the steering motor; The steering motor has one end connected to the steering controller; The steering controller controls the steering motor, the steering motor drives the reducer to rotate, the reducer drives the steering arm to swing, and drives the steering axle to steer through the connecting rod mechanism.

2. The dual redundant electric power steering by wire system according to claim 1, characterized in that: Also includes connecting flange: The steering motor and the reducer are connected and fixed via a connecting flange.

3. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering controller receives the target steering angle instruction of the whole vehicle and controls the steering direction and speed of the steering motor.

4. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering motor is a double-winding permanent magnet synchronous motor: The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

5. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The reducer is a rotating vector reducer.

6. The dual redundant electric power steering by wire system according to claim 1, characterized in that: The steering arm is connected to the reducer via bolts.

7. A multi-axle vehicle, characterized in that: A dual redundant electric steering by wire system as claimed in any one of claims 1 to 6 is adopted.

8. The multi-axle vehicle according to claim 7, characterized in that: The steering motor, the reducer and the steering controller are installed in the cabin of the multi-axle vehicle.

9. The multi-axle vehicle according to claim 8, characterized in that: The steering motor is a double-winding permanent magnet synchronous motor: The dual-winding permanent magnet synchronous motor includes two sets of three-phase windings, which are driven by a set of high-voltage drive circuit and a set of low-voltage drive circuit respectively.

10. The multi-axle vehicle according to claim 8, characterized in that: The reducer is a rotating vector reducer.

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