All-terrain vehicle EPS control system and control method

Abstract

The EPS control system of the all-terrain vehicle comprises a vehicle body, and a right handle switch, an EPS module, a front axle locking system, a rear axle locking system, a vehicle control unit VCU, an acceleration sensor and a tilt angle sensor are arranged on the vehicle body. The vehicle control unit VCU sends the vehicle working condition information and the vehicle stability information to the EPS controller, and the EPS controller calculates the expected current needed by the power-assisted motor and transmits the target current to the power-assisted motor. According to the system, the defects of an independent EPS system are overcome, multi-dimensional cooperative control can be achieved in combination with the actual running situation of the vehicle, and the steering stability and comfort of the all-terrain vehicle under various complex road conditions and severe environments are achieved.

Description

Technical Field

[0001] This invention relates to an all-terrain vehicle, and more specifically, to an all-terrain vehicle EPS control system. Background Technology

[0002] As all-terrain vehicles transition to electrification and intelligence, steering systems have gradually evolved from traditional mechanical steering to electric power steering (EPS). EPS provides auxiliary torque through an electric motor, and the electronic control unit (ECU) dynamically adjusts the assist characteristics according to driving conditions. With its advantages of energy saving, precision, and easy integration, EPS has become the mainstream configuration for large-displacement all-terrain vehicles.

[0003] All-terrain vehicles (ATVs) face more challenging and complex driving conditions than passenger cars, and drivers often switch between various driving modes, including two-wheel drive, four-wheel drive, and differential, to adapt to different road conditions. Traditional EPS systems still have the following shortcomings in addressing these issues, for example: 1. How to ensure driving feel and handling stability when all-terrain vehicles experience wheel slippage on low-grade auxiliary roads; 2. When switching between two-wheel drive, four-wheel drive, front differential or lock, rear differential or lock, etc., the power steering cannot be adjusted according to the two-wheel drive or four-wheel drive differential conditions. Third, the EPS of all-terrain vehicles has instability issues when making high-speed, large-angle turns; Fourth, it is impossible to proactively analyze driving conditions based on the above operating conditions to improve driving stability and comfort. Summary of the Invention

[0004] Therefore, it is necessary to provide an EPS control system for all-terrain vehicles to address the aforementioned technical problems.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An all-terrain vehicle EPS control system, characterized in that the all-terrain vehicle EPS control system includes a vehicle body, on which a right handlebar switch, an EPS module, a front axle locking system, a rear axle locking system, a vehicle control unit (VCU), an acceleration sensor, and a tilt sensor are provided. in, The right handlebar switch includes a four-wheel drive differential switch and an electronic throttle. The EPS module includes an assist motor, an EPS controller, a steering angle sensor, and a torque sensor. The aforementioned front axle locking system includes a front axle, a front axle motor, a left front wheel speed sensor, and a right front wheel speed sensor. The rear axle locking system includes a rear axle, a rear axle motor, a left rear wheel speed sensor, and a right rear wheel speed sensor. in, The vehicle control unit (VCU) receives real-time signals from the four-wheel drive differential switch, electronic throttle, front axle motor, left front wheel speed sensor, right front wheel speed sensor, rear axle motor, left rear wheel speed sensor, and right rear wheel speed sensor, and obtains vehicle operating condition information and vehicle stability information. The vehicle control unit (VCU) sends vehicle operating condition information and vehicle stability information to the EPS controller. The EPS controller calculates the desired current required by the power assist motor and supplies the target current to the power assist motor.

[0006] In a preferred embodiment of the present invention, the EPS controller employs closed-loop feedback control when delivering the target current to the booster motor.

[0007] In a preferred embodiment of the present invention, the EPS controller delivers the target current to the boost motor through PWM control.

[0008] As a preferred embodiment of the present invention, The vehicle control unit (VCU) obtains the vehicle operating condition information by receiving signals from the front axle motor, the rear axle motor, and the four-wheel drive differential switch. The vehicle stability information includes road condition identification information, vehicle roll information, and vehicle high-speed large turning angle information. The vehicle control unit (VCU) obtains the road condition identification information by receiving signals from the left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, and right rear wheel speed sensor. The vehicle control unit (VCU) obtains the vehicle roll information by receiving signals from the acceleration sensor and the tilt sensor. The vehicle control unit (VCU) obtains the high-speed, large-angle information of the vehicle by receiving signals from the electronic throttle, steering angle sensor, and torque sensor.

[0009] An EPS control method for all-terrain vehicles, comprising the following steps: Step S1: The vehicle control unit (VCU) collects signals from the front axle motor, rear axle motor, and four-wheel drive differential switch to obtain vehicle operating condition information. The vehicle control unit (VCU) collects signals from the left front wheel speed sensor, right front wheel speed sensor, left rear wheel speed sensor, and right rear wheel speed sensor to obtain road condition identification information. The vehicle control unit (VCU) collects signals from the acceleration sensor and tilt sensor to obtain vehicle roll information; The vehicle control unit (VCU) collects signals from the electronic throttle, steering angle sensor, and torque sensor to obtain information on the vehicle's high-speed, large steering angle. Step S2: The vehicle control unit (VCU) sends the vehicle operating condition information, road condition identification information, vehicle roll information, and vehicle high-speed large turning angle information obtained in step S1 to the EPS controller. The EPS controller calculates the desired current required by the power assist motor and supplies the target current to the power assist motor.

[0010] As a preferred embodiment of the present invention, The EPS controller uses closed-loop feedback control when delivering the target current to the booster motor.

[0011] Compared with the prior art, the present invention has the following beneficial effects: This invention provides an EPS control system for all-terrain vehicles. The system determines the vehicle's driving conditions through a two-wheel drive / four-wheel drive system switch, a front axle locking system, and a rear axle locking system. Wheel speed sensors, acceleration sensors, tilt sensors, and electronic throttle work together to calculate the vehicle's posture and driver intentions. The vehicle control unit (VCU) analyzes the driving conditions and posture, and automatically adjusts the EPS output based on the driver's intentions, improving the driving experience of the all-terrain vehicle. This control system overcomes the shortcomings of independent EPS systems, enabling multi-dimensional coordinated control based on actual vehicle driving conditions, thus solving the problems of steering stability and comfort in various complex road conditions and harsh environments for all-terrain vehicles. Attached Figure Description

[0012] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the module structure of the all-terrain vehicle EPS control system of the present invention; Figure 2 This is a schematic diagram of the logic module of the all-terrain vehicle EPS control system of the present invention; Figure 3 This is a schematic diagram of the vehicle condition information judgment logic of the present invention; Figure 4 This is the electrical schematic diagram of the all-terrain vehicle EPS control system of the present invention; Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0015] like Figures 1 to 4As shown, the EPS control system of the all-terrain vehicle includes the vehicle body, which is equipped with a right handle switch 1, EPS module 2, front axle locking system 3, rear axle locking system 4, vehicle controller VCU 11, acceleration sensor 9 and tilt sensor 10.

[0016] The right handlebar switch 1 includes a four-wheel drive differential switch 12 and an electronic throttle 13. The EPS module 2 includes an assist motor 14, an EPS controller 15, a steering angle sensor 16, and a torque sensor 17. The front axle locking system 3 includes a front axle 18, a front axle motor 19, a left front wheel speed sensor 5, and a right front wheel speed sensor 6. The rear axle locking system 4 includes a rear axle 20, a rear axle motor 21, a left rear wheel speed sensor 7, and a right rear wheel speed sensor 8. The vehicle control unit (VCU) 11 receives real-time signals from the four-wheel drive differential switch 12, electronic throttle 13, front axle motor 19, left front wheel speed sensor 5, right front wheel speed sensor 6, rear axle motor 21, left rear wheel speed sensor 7, and right rear wheel speed sensor 8, and obtains vehicle operating condition information and vehicle stability information. The vehicle controller VCU11 sends vehicle operating condition information and vehicle stability information to the EPS controller 15. The EPS controller 15 calculates the desired current required by the power assist motor 14 and supplies the target current to the power assist motor 14.

[0017] In addition, the EPS controller 15 employs closed-loop feedback control when supplying the target current to the boost motor 14.

[0018] In addition, the EPS controller 15 delivers the target current to the boost motor 14 through PWM control.

[0019] like Figure 2 As shown, the vehicle controller VCU11 obtains the vehicle's operating condition information by receiving signals from the front axle motor 19, the rear axle motor 21, and the four-wheel drive differential switch 12.

[0020] The vehicle stability information includes road condition identification information, vehicle roll information, and vehicle high-speed large turning angle information.

[0021] The vehicle controller VCU11 obtains the road condition identification information by receiving signals from the left front wheel speed sensor 5, the right front wheel speed sensor 6, the left rear wheel speed sensor 7, and the right rear wheel speed sensor 8.

[0022] The vehicle controller VCU11 obtains the vehicle's roll information by receiving signals from the acceleration sensor 9 and the tilt sensor 10.

[0023] The vehicle controller VCU11 obtains high-speed, large-angle information of the vehicle by receiving signals from the electronic throttle 13, the steering angle sensor 16, and the torque sensor 17.

[0024] The following describes the EPS control method for all-terrain vehicles of the present invention, which includes the following steps: Step S1: The vehicle controller VCU11 collects signals from the front axle motor 19, the rear axle motor 21, and the four-wheel drive differential switch 12 to obtain vehicle operating condition information. The vehicle controller VCU11 collects signals from the left front wheel speed sensor 5, the right front wheel speed sensor 6, the left rear wheel speed sensor 7, and the right rear wheel speed sensor 8 to obtain road condition identification information. The vehicle controller VCU11 collects signals from the acceleration sensor 9 and the tilt sensor 10 to obtain vehicle roll information; The vehicle controller VCU11 collects signals from the electronic throttle 13, the steering angle sensor 16, and the torque sensor 17 to obtain information on the vehicle's high-speed large steering angle. Step S2: The vehicle controller VCU11 sends the vehicle operating condition information, road condition identification information, vehicle roll information, and vehicle high-speed large turning angle information obtained in step S1 to the EPS controller 15. The EPS controller 15 calculates the desired current required by the power assist motor 14 and supplies the target current to the power assist motor 14. The EPS controller 15 uses closed-loop feedback control when supplying the target current to the power assist motor 14.

[0025] The following is a further explanation of step S1.

[0026] like Figure 2 As shown, the vehicle controller VCU11 collects signals from the left front wheel speed sensor 5, right front wheel speed sensor 6, left rear wheel speed sensor 7, and right rear wheel speed sensor 8 to obtain road condition identification information. The specific process is as follows: The wheel speed sensors of the four wheels, namely the left front wheel speed sensor 5, right front wheel speed sensor 6, left rear wheel speed sensor 7, and right rear wheel speed sensor 8, respectively output pulse signals to the vehicle controller VCU11. The vehicle controller VCU11 calculates the wheel speeds of the four wheels: vleft front, vright front, vleft rear, and vright rear, and then estimates the reference vehicle speed based on the four wheel speeds.

[0027] If the rotational speed of one wheel suddenly drops significantly (far below the reference speed), or even approaches 0, the controller will determine that the vehicle is on a low-level auxiliary road surface (wheel slippage). In addition, the vehicle controller VCU11 will also compare the rotational speeds of the left and right wheels. If the rotational speed of one wheel drops suddenly, it will also determine that the vehicle is on a low-level auxiliary road surface (wheel slippage).

[0028] like Figure 3As shown, the relationship between vehicle operating condition information and the signals of the front axle motor 19, the rear axle motor 21, and the four-wheel drive differential switch 12 is displayed.

[0029] The front axle motor 19 provides a front axle motor two-wheel drive signal, a front axle motor four-wheel drive signal, and a front axle motor four-wheel drive lock signal. The four-wheel drive differential switch 12 provides a two-wheel drive switch signal and a four-wheel drive switch signal. The rear axle motor 21 provides a rear axle lock signal. For example, when the front axle motor 19 provides the front axle motor two-wheel drive signal, the front axle motor four-wheel drive signal, and the front axle motor four-wheel drive lock signal as "ground", "no", and "no", respectively; the four-wheel drive differential switch 12 provides the two-wheel drive switch signal and the four-wheel drive switch signal as "ground" and "no", respectively; and the rear axle motor 21 provides the rear axle lock signal as "no", the vehicle operating condition information at this time is two-wheel drive rear differential.

[0030] This invention determines the vehicle's driving condition through the two-wheel drive system switch, front axle locking system, and rear axle locking system. It calculates the vehicle's posture and driver intention through the coordinated action of wheel speed sensors, acceleration sensors, tilt sensors, and electronic throttle. The vehicle control unit (VCU) analyzes the vehicle's driving condition and posture, and automatically adjusts the EPS (Electric Power Steering) output based on the driver's intention, thus improving the driving experience of all-terrain vehicles. This control system overcomes the shortcomings of independent EPS systems, enabling multi-dimensional coordinated control based on actual vehicle driving conditions, solving the problems of steering stability and comfort in various complex road conditions and harsh environments for all-terrain vehicles.

[0031] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application.

Claims

1. An EPS control system for an all-terrain vehicle, characterized in that, The all-terrain vehicle EPS control system includes the vehicle body, which is equipped with a right handle switch (1), an EPS module (2), a front axle locking system (3), a rear axle locking system (4), a vehicle controller (VCU) (11), an acceleration sensor (9), and a tilt sensor (10). in, The right handle switch (1) includes a four-wheel drive differential switch (12) and an electronic throttle (13). The EPS module (2) includes an assist motor (14), an EPS controller (15), an angle sensor (16), and a torque sensor (17). The front axle locking system (3) includes a front axle (18), a front axle motor (19), a left front wheel speed sensor (5), and a right front wheel speed sensor (6). The rear axle locking system (4) includes a rear axle (20), a rear axle motor (21), a left rear wheel speed sensor (7), and a right rear wheel speed sensor (8). in, The vehicle control unit (VCU) (11) receives real-time signals from the four-wheel drive differential switch (12), electronic throttle (13), front axle motor (19), left front wheel speed sensor (5), right front wheel speed sensor (6), rear axle motor (21), left rear wheel speed sensor (7), and right rear wheel speed sensor (8), and obtains vehicle operating condition information and vehicle stability information. The vehicle controller (VCU) (11) sends vehicle operating condition information and vehicle stability information to the EPS controller (15). The EPS controller (15) calculates the desired current required by the power assist motor (14) and supplies the target current to the power assist motor (14).

2. The all-terrain vehicle EPS control system according to claim 1, characterized in that, The EPS controller (15) uses closed-loop feedback control when supplying the target current to the boost motor (14).

3. The all-terrain vehicle EPS control system according to claim 1, characterized in that, The EPS controller (15) delivers the target current to the boost motor (14) through PWM control.

4. The all-terrain vehicle EPS control system according to claim 1, characterized in that, The vehicle control unit (VCU) (11) obtains the vehicle operating condition information by receiving signals from the front axle motor (19), the rear axle motor (21) and the four-wheel drive differential switch (12); The vehicle stability information includes road condition identification information, vehicle roll information, and vehicle high-speed large turning angle information. The vehicle control unit (VCU) (11) obtains the road condition identification information by receiving signals from the left front wheel speed sensor (5), the right front wheel speed sensor (6), the left rear wheel speed sensor (7), and the right rear wheel speed sensor (8). The vehicle control unit (VCU) (11) obtains the vehicle roll information by receiving signals from the acceleration sensor (9) and the tilt sensor (10). The vehicle controller (VCU) (11) obtains the high-speed large-angle information of the vehicle by receiving signals from the electronic throttle (13), the steering angle sensor (16) and the torque sensor (17).

5. An EPS control method for an all-terrain vehicle, comprising the following steps: Step S1: The vehicle control unit (VCU) (11) collects signals from the front axle motor (19), the rear axle motor (21) and the four-wheel drive differential switch (12) to obtain vehicle operating condition information; The vehicle control unit (VCU) (11) collects signals from the left front wheel speed sensor (5), the right front wheel speed sensor (6), the left rear wheel speed sensor (7), and the right rear wheel speed sensor (8) to obtain road condition identification information. The vehicle control unit (VCU) (11) collects signals from the acceleration sensor (9) and the tilt sensor (10) to obtain vehicle roll information; The vehicle control unit (VCU) (11) collects signals from the electronic throttle (13), the steering angle sensor (16) and the torque sensor (17) to obtain information on the vehicle's high-speed large steering angle; Step S2: The vehicle controller (VCU) (11) sends the vehicle operating condition information, road condition identification information, vehicle tilt information and vehicle high-speed large turning angle information obtained in step S1 to the EPS controller (15). The EPS controller (15) calculates the desired current required by the power assist motor (14) and sends the target current to the power assist motor (14).

6. The EPS control method for all-terrain vehicles according to claim 4, characterized in that, The EPS controller (15) uses closed-loop feedback control when supplying the target current to the boost motor (14).

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